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Figure 6: Summarize Block
The block gets inputs from the regulator, wind sensor and the current compensation. Extra external forces can be setup.
These forces are added into X, Y and Z force for the vessel. These forces are output towards the Allocation (ALLOC
block).
Lowering the wind compensation also lowers the thrust. If the vessel does require this thrust to stay in position, the
regulator will increase the integration factors.
III.6.8 Thruster Allocation
The Allocation Block receives force demand inputs from the force Calculation Block and outputs Thruster Set Point
towards the Ramp Block. The inputs are in 3 dimensions, X, Y and Z. The outputs are up to 2 Set Points per thruster for
the direction angle Set Point and the RPM set point.
The function of the Allocation Block is to divide the demand force over the available Thrusters. It gives priority to rotation
force. The Block will limit X and Y forces to ensure the vessel stays at the requested heading. This check is based on
force only. If a vessel has developed a particular speed, the rotation forces can become so high that also the heading
cannot be maintained.
III.6.9 Thruster Ramp
The Ramp Block receives all thruster Set Points and feedback as inputs and gives ramped thruster Set Points as
outputs.
20 | Introduction
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