scholarly journals Control of Dynamic Positioning System with Disturbance Observer for Autonomous Marine Surface Vessels

Sensors ◽  
2021 ◽  
Vol 21 (20) ◽  
pp. 6723
Author(s):  
Mirosław Tomera ◽  
Kamil Podgórski
Keyword(s):  
Time Domain Analysis ◽  
Dynamic Positioning ◽  
Positioning System ◽  
External Disturbances ◽  
Dynamic Positioning System ◽  
Surface Vessels ◽  
Full State Feedback ◽  
Marine Surface ◽  
Ship Control ◽  
The Time Domain

The main goal of the research is to design an efficient controller for a dynamic positioning system for autonomous surface ships using the backstepping technique for the case of full-state feedback in the presence of unknown external disturbances. The obtained control commands are distributed to each actuator of the overactuated vessel via unconstrained control allocation. The numerical hydrodynamic model of CyberShip I and the model of environmental disturbances are applied to simulate the operation of the ship control system using the time domain analysis. Simulation studies are presented to illustrate the effectiveness of the proposed controller and its robustness to external disturbances.

Time-Domain Dynamic Analysis for Dynamic Positioning System of Deepwater Semi-Submersible

2012 ◽  
Vol 204-208 ◽  
pp. 4518-4522 ◽  
Author(s):  
Li Ping Sun ◽  
Shu Long Cai ◽  
Jing Chen
Keyword(s):  
Dynamic Analysis ◽  
Deep Water ◽  
Time Domain ◽  
Pid Control ◽  
Oil And Gas ◽  
Dynamic Positioning ◽  
Positioning System ◽  
Dynamic Positioning System ◽  
The Time Domain ◽  
Thrust Allocation

Semi-submersible plays an important role in ocean oil and gas exploitation. This paper carried out some researches for the dynamic positioning system (DPS) of a deep water semi- submersible. Mathematic modal was made, and a special program was created with M-language for the time-domain dynamic analysis of the dynamic positioning system of the deep water semi-submersible, on basis of the mathematic modal. PID control strategy, kalman filtering theory and optimal thrust allocation method were used in the analysis. Simulation result indicated the DPS of this platform is safe and efficient.

Optimal Thrust Allocation in a Dynamic Positioning System

2008 ◽  
Author(s):  
J. A. Leavitt
Keyword(s):  
Dynamic Positioning ◽  
Positioning System ◽  
Positioning Systems ◽  
Dynamic Positioning System ◽  
Surface Vessels ◽  
Thrust Allocation

An existing approach to optimizing thrust allocation in surface vessels is considered for general use with dynamic positioning systems. A solution to the power limiting problem is presented, and the handling of azimuthing thrusters is significantly improved. Various other considerations related to thrust allocation are treated. A generalized algorithm is developed.

scholarly journals Computer model of the ship's dynamic positioning system

2020 ◽  
Vol 4 (394) ◽  
pp. 109-120
Author(s):  
Igor Kalinin ◽  
◽  
Maria Ivanova ◽  
Leonid Pautov ◽  
Artem Rudetskiy ◽  
...  
Keyword(s):  
Control System ◽  
Electric Power ◽  
Computer Model ◽  
Electric Power System ◽  
Control Algorithms ◽  
Dynamic Positioning ◽  
Positioning System ◽  
Computational Studies ◽  
Dynamic Positioning System ◽  
Ship Control

Object and purpose of research. The object of the research is the dynamic positioning system of a vessel with electric propulsion, the purpose is to create a computer tool for debugging the algorithms for the operation of control system for the ship’s dynamic positioning. Materials and methods. The indigenous simulation environment SimInTech is used. The model of vessel’s plane-parallel motion and methods of complex technical objects computer modeling are used. Main results. The concept and computer model of the ship technical means control system in the domestic modeling environment, mathematical and circuit models of the control object for conducting computational studies of ship control modes, developing and debugging algorithms for controlling the dynamic positioning of the ship, taking into account the optimal use of electric power system resources. Conclusion. The developed computer model of ship with the dynamic positioning system is a flexible tool for creating and debugging ship control systems and control algorithms. It provides a large number of computational studies of ship control modes for the creation and debugging of algorithms for controlling ship movement during its positioning, taking into account the optimal use of the resources of the ship's electric power system, which reduces the complexity of development and debugging of control algorithms, minimizes the number of physical experiments necessary to create ship’s dynamic positioning systems.

Modeling and Simulation of Ship Motion for Dynamic Positioning Vessel

2014 ◽  
Vol 919-921 ◽  
pp. 2127-2130
Author(s):  
Pei Wen Yu ◽  
Hui Chen
Keyword(s):  
Modeling And Simulation ◽  
Wind Wave ◽  
Ship Motion ◽  
Dynamic Positioning ◽  
Positioning System ◽  
Dynamic Positioning System ◽  
Oil Supply ◽  
Mmg Model ◽  
Simulation Results

The paper presents a method to build MMG model of ship motion for a oil supply vessel (OSV) with dynamic positioning system. It is assumed that the ship motion exposed to environment disturbances like wind, wave & currents, The simulation results show that the model of the vessel and environment disturbances are suitable, and the method is practicable .

Sign in / Sign up

Export Citation Format

Share Document