针对海洋环境力较小、方向频繁地大角度变化，动力定位船舶控制系统要求推进器发出较小推力，甚至零推力的特殊工况，为实现控制力成功分配的目的，采用组合偏置的思想，考虑了组合偏置的推进器数量、组合形式和偏置量等多方面影响因素，基于功耗最小的目的，设计了一种能量最优组合偏置推力分配算法.仿真结果验证了该算法能够实现控制力的分配.与现有其他算法对比表明，该算法能够有效地减少功耗，实现能量最优的目的.

In view of the small marine environmental force and frequent large angle changes in direction, and the dynamic positioning ship control system requiring the thruster to emit a small thrust, or even zero thrust, in order to successfully realize the distribution of the control force, an energy optimal combination bias thrust allocation algorithm based on the minimum power consumption was designed by using the idea of combined bias, and considering many influence factors including the number of thruster, the combination form and the offset of the combined bias. Simulation results show that the algorithm can realize the allocation of control force, and compared with other existing algorithms, the proposed algorithm can effectively reduce power consumption and achieve the purpose of energy optimization.