A Thrust Allocation Method for Efficient Dynamic Positioning of a Semisubmersible Drilling Rig Based on the Hybrid Optimization Algorithm

Table 3

Comparison of the optimization results between the existing study and this study.

Time steps	ITHS [A]	Hybrid [B]	Ratio; (B/A)
	Total power (kW)	Total power (kW)
(s)			—
1	7,500	8,250	1.10
2	10,850	10,824	0.99
3	7,100	6,580	0.92
4	7,800	9,172	1.17
5	7,900	7,107	0.89
6	5,800	7,360	1.26
7	9,800	9,522	0.97
8	7,000	7,519	1.07
9	7,500	7,379	0.98
10	9,800	9,206	0.83
11	8,900	10,277	1.15
12	6,200	4,855	0.78
13	4,000	3,949	0.98
14	7,600	4,802	0.63
—	—	Mean	0.98