Dynamic Positioning Capability Assessment Based on Optimal Thrust Allocation

Piekło, Agnieszka; Witkowska, Anna; Zubowicz, Tomasz

doi:10.2478/pomr-2023-0019

Abstract

The article presents an efficient method of optimal thrust allocation over the actuators in a dynamically positioned ship, according to the DNV-ST-0111 standard, Level 1. The optimisation task is approximated to a convex problem with linear constraints and mathematically formulated as quadratic programming. The case study is being used to illustrate the use of the proposed approach in assessing the DP capability of a rescue ship. The quadratic programming-based approach applied for dynamic positioning capability assessment allows for fast calculations to qualitatively compare different ship designs. In comparison with the DNV tool, it gives 100% successful validation for a ship with azimuth thrusters and a pessimistic solution for a ship equipped with propellers with rudders. Therefore, it can be safely applied at an early design stage.

References

DNV, DNV-ST-0111, Assessment of station keeping capability of dynamic positioning vessels, DNV, 2021.
Search in Google Scholar Back to article
M. Tomera, “Dynamic positioning system for a ship on harbour manoeuvring with different observers. Experimental Results,” Polish Maritime Research, 2014.
Search in Google Scholar Back to article
M. Tomera, “Dynamic positioning system design for “Blue Lady”. Simulation tests,” Polish Maritime Research, 2012.
Search in Google Scholar Back to article
T. Fossen, Handbook of Marine Craft Hydrodynamics and Motion Control, 1st ed. New York: John Wiley, 2011.
Search in Google Scholar Back to article
A. Sørensen, „Marine Control Systems. Propulsion and Motion Control of Ships and Ocean Structures,” Lecture Notes, Department of Marine Technology. Norwegian University of Science and Technology, 2013.
Search in Google Scholar Back to article
C. de Wit, „Optimal thrust allocation methods for dynamic positioning of ships,” M.Sc. thesis, Delft University of Technology, 2009.
Search in Google Scholar Back to article
S. Luke, “Essentials of Metaheuristics,” in Lecture Notes, Second Edition, 2016.
Search in Google Scholar Back to article
J. Ming and Y. Bowen, „The optimal thrust allocation based on QPSO algorithm for dynamic positioning vessels,” Tianjin, China, 2014, doi: 10.1109/ICMA.2014.6885898.
Open DOI Search in Google Scholar Back to article
X. Yang, “Optimization and metaheuristic algorithms in engineering,” in Metaheuristics in Water, Geotechnical and Transport Engineering, Elsevier, 2013, pp. 1-23.
Search in Google Scholar Back to article
G. Ding, P. Gao, X. Zhang, and Y. Wang, “Thrust allocation of dynamic positioning based on improved differential evolution algorithm,” in Proc. 39th Chinese Control Conference, Shenyang, China, doi: 10.23919/CCC50068.2020.9188704, 2020.
Open DOI Search in Google Scholar Back to article
R. Storn and K. Price, “Differential evolution - A simple and efficient adaptive scheme for global optimization over continuous spaces,” Journal of Global Optimization, vol. 23, no. 1, 1995.
Search in Google Scholar Back to article
D. Goldberg, Genetic Algorithms in Search, Optimization & Machine Learning. Addison-Wesley, 1989.
Search in Google Scholar Back to article
T. Baetz-Beielstein, „Overview: Evolutionary Algorithms,” Ph.D. project, Cologne University of Applied Sciences, 2014.
Search in Google Scholar Back to article
M. Kochenderfer and T. Wheeler, Algorithms for Optimisation. MIT Press, 2019.
Search in Google Scholar Back to article
E. Baeyens, A. Herreros, and J. Perán, “A direct search algorithm for global optioptimization,” Algorithms, vol. 9, no. 2, p. 40, 2016, https://doi.org/10.3390/a9020040.
Search in Google Scholar Back to article
K. Deb, A. Pratap, S. Agarwal, and T. Meyarivan, “A fast and elitist multiobjective genetic algorithm: NSGA-II,” IEEE Transactions on Evolutionary Computation, vol. 6, no. 2, pp. 182-197, 2002, doi: 1109/4235.996017.
Open DOI Search in Google Scholar Back to article
D. Gao, X. Wang, T. Wang, Y. Wang, and X. Xu, “Optimal thrust allocation strategy of electric propulsion ship based on improved non-dominated sorting genetic algorithm II,” IEEE Access, vol. 7, no. 1, pp.135247-135255, 2019, doi: 10.1109/ACCESS.2019.2942170, 2019.
Open DOI Search in Google Scholar Back to article
F. Mauro and R. Nabergoj, “Advantages and disadvantages of thruster allocation procedures in preliminary dynamic positioning predictions,” Ocean Eng., vol. 123, pp. 96-102, 2016, https://doi.org/10.1016/j.oceaneng.2016.06.045.
Search in Google Scholar Back to article
O. Harkegard, “Dynamic control allocation using constrained quadratic programming,” J. Guid. Contr. Dynam., vol. 27, no. 6, pp. 1028–1034, 2004, https://doi.org/10.2514/1.11607.
Search in Google Scholar Back to article
Y. Luo, A. Serrani, S. Yurkovich, D. B. Doman, and M. W. Oppenheimer, “Model predictive dynamic control allocation with actuator dynamics,” in IEEE Proc. 2004 American Control Conference, pp. 1695–1700, 2004, doi: 10.23919/ACC.2004.1386823.
Open DOI Search in Google Scholar Back to article
A. Witkowska and R. Śmierzchalski, “Adaptive backstepping tracking control for an over-actuated DP marine vessel with inertia uncertainties,” Int. J. Appl. Math. Comput. Sci., vol. 28, no. 4, pp. 679–693, 2018, doi: 10.2478/amcs-2018-0052.
Open DOI Search in Google Scholar Back to article
J. Tjønnås and T. Johansen, “Adaptive control allocation,” Automatica, vol. 44, pp. 2754-2766, 2008, https://doi.org/10.1016/j.automatica.2008.03.031.
Search in Google Scholar Back to article
M. Valčič, „Optimization of thruster allocation for dynamically positioned marine vessels,” Doctoral thesis, University of Rijeka, 2020.
Search in Google Scholar Back to article
E. Ruth, „Propulsion control and thrust allocation on marine vessels,” Doctoral thesis, Norwegian University of Science and Technology, 2008.
Search in Google Scholar Back to article
L. Wang, J. Yang, and S. Xu, “Dynamic positioning capability analysis for marine vessels based on a DPCap polar plot program,” China Ocean Eng., vol. 32, no. 1, pp. 90-98, 2018, doi: 10.1007/s13344-018-0010-4.
Open DOI Search in Google Scholar Back to article
P. Zalewski, “Constraints in allocation of thrusters in a DP simulator,” Sci. J. Mar.Univ. Szczecin, vol. 52, no. 124, pp. 45-50, 2017, doi: 10.17402/244.
Open DOI Search in Google Scholar Back to article
P. Zalewski, “Convex optimization of thrust allocation in a dynamic positioning system,” Sci. J. Mar.Univ. Szczecin, vol. 48, no. 120, pp. 58-62, 2016, doi: 10.17402/176.
Open DOI Search in Google Scholar Back to article
D. Goldfarb and A. Idnani, “A numerically stable dual method for solving strictly convex quadratic programs,” Mathematical Programming, vol. 27, pp. 1-33, 1983.
Search in Google Scholar Back to article

Dynamic Positioning Capability Assessment Based on Optimal Thrust Allocation

Abstract

Paradigm

My account