A SHIP HAVING A PLURALITY OF PROPELLERS AND A THRUST ALLOCATION METHOD THEREFOR

摘要

A plurality of propellers installed at different positions to propel the ship; And a control unit formed by a controller for calculating a final value of a required force and a required moment by measuring a difference between a current position and a target position, and a thrust divider for calculating thrust and angle of each of the plurality of propulsions. And, the thrust divider selects a plurality of virtual values of the thrust and thrust of each thruster, and selects an optimum value from which the final value and the minimum error among the combinations of the selected virtual values are minimum. Thus, a ship having a plurality of propellers capable of optimal thrust distribution without linearization or conversion to a convex function, and a thrust distribution method therefor.