Dynamic positioning system design for “blue lady”. simulation tests

Tomera, Mirosław

doi:10.2478/v10012-012-0024-4

Abstract

The dynamical positioning system is a complex control consisting of a number ofcomponents, including: filters, observers, controllers, and propeller allocation systems.The design and preliminary analysis of operational quality of system operation are usuallydone based on numerical simulations performed with the aid of the mathematical modelof the ship. The article presents a concept of the dynamic positioning system applied tosteering the training ship Blue Lady used for training captains in the ship handling researchand training centre owned by the Foundation for Safety of Navigation and EnvironmentProtection in Ilawa/Kamionka. The simulation tests performed in the numerical environmentof Matlab/Simulink have proved the usability of the designed system for steering a ship at low speed.

References

1. Lindegaard K.-P.: Acceleration Feedback in DynamicPositioning, PhD Thesis, Norwegian University Science & Technology, Deptment of Engineering Cybernetics, Trondheim, Norway, 2003
Search in Google Scholar
2. Sorensen A.J.: a survey of dynamic positioning control systems. Annual Reviews in Control, Vol. 35, Issue 1, pp. 123-136, Elsevier Ltd., 201110.1016/j.arcontrol.2011.03.008
Search in Google Scholar
3. Fay H.: Dynamic positioning systems, principles, design andapplications. Editions Technip, Paris, France, 1990
Search in Google Scholar
4. Balchen J.G., Jenssen N.A., Saelid S.: Dynamic positioning using Kalman filtering and optimal control theory. In IFAC/IFIP Symposium on Automation in Offshore Oil Field Operation. Amsterdam, The Netherlands, pp. 183-186, 1976
Search in Google Scholar
5. Balchen J.G., Jenssen N.A., Mathiasen E., Saelid S.: a dynamic positioning system based on Kalman filtering and optimal control, Modeling, Identification and Control, Vol. 1, No 3, pp. 135-163, 198010.4173/mic.1980.3.1
Search in Google Scholar
6. Balchen J.G., Jenssen N.A., Saelid S.: Dynamic positioning of floating vessels based on Kalman filtering and optimal control, Proceedings of the 19th IEEE conference on Decision andControl, New York, pp. 852-864, 198010.1109/CDC.1980.271924
Search in Google Scholar
7. Saelid S., Jenssen N.A., Balchen J.G.: Design and analysis of a dynamic positioning system based on Kalman filtering and optimal control, IEEE Transactions on Automatic Control, Vol. 28, No 3, pp. 331-339, 198310.1109/TAC.1983.1103225
Search in Google Scholar
8. Grimble M.J., Patton R.J., Wise D.A.: Use of Kalman Filtering Techniques in Dynamic Positioning Systems. IEE Proceedings, Vol. 127, Part D, No 3, pp. 93-102, 198010.1049/ip-d.1980.0015
Search in Google Scholar
9. Fung P. T-K., Grimble M.: Dynamic ship positioning using selftuning Kalman filter. IEEE Transactions on Automatic Control, Vol. 28, Issue 3, pp. 339-349, 198310.1109/TAC.1983.1103226
Search in Google Scholar
10. Katebi M.R., Grimble M.J., Zhang Y.: H∞ robust control design for dynamic ship positioning. IEE Proceedings - Control Theoryand Applications, Vol. 144, No. 2, pp. 110-120, 199710.1049/ip-cta:19971030
Search in Google Scholar
11. Kijima K., Murata K., Furukawa Y.: Design of the dynamic positioning system for self-propulsive barge under external disturbances, Proceedings of the IFAC conference on controlapplications in marine systems, (CAMS 98), Fukuoka, Japan., pp. 69-76, 199810.1016/S1474-6670(17)38419-7
Search in Google Scholar
12. Nakamura M., Kajiwara H.: Control system design and model experiments on thruster assisted mooring system. Proceedings ofthe 7th international offshore and polar engineering conference(ISOPE), pp. 641-648, 1997
Search in Google Scholar
13. Tannuri E.A., Donha D.C.: H∞ controller design for dynamic positioning of turred moored FPSO. Proceedings of the 5thIFAC conference on manoeuvering and control of marine crafts, (MCMC-2000), Aalborg, Denmark. pp. 269-275, 2000
Search in Google Scholar
14. Dohna D.C., Tannuri E.A.: Non-linear semi-submersible positioning system design using an H∞ controller. Proceedingsof the 5th IFAC Conference on Control Application in MarineSystems(CAMS-2001), Glasgow, Scotland, 2001
Search in Google Scholar
15. Gierusz W., Synthesis of multivariable systems of precise shipmotion control with the aid of selected resistant system designmethods, Gdynia Maritime University Publishers, (in Polish), 2005
Search in Google Scholar
16. Stephens R.I., Burnham K.J., Reeve P.J.: a practical approach to the design of fuzzy controllers with application to dynamic ship positioning. Proceedings of the IFAC Conference on controlapplications and marine systems, (CAMS-95), Trondheim, Norway, 199510.1016/S1474-6670(17)51696-1
Search in Google Scholar
17. Broel-Plater B.: Fuzzy control for vessel motion, Proceedingsof the 4th International Symposium on Method and Models inAutomation and Robotics, Vol. 2, pp. 697-702, Miedzyzdroje, Poland, 1998
Search in Google Scholar
18. Chang W.-J., Chen G.-J., Yeh Y.-L.: Fuzzy control of dynamic positioning systems for ships, Journal of Marine Science andTechnology, Vol. 10, No. 1, pp. 47-53, 200210.51400/2709-6998.2300
Search in Google Scholar
19. Aarset M.F., Strand J.P. Fossen T.I.: Nonlinear vectorial observer backstepping with integral action and wave filtering for ships, Proceedings of IFAC Conference on Control Applications inMarine Systems, (CAMS-98), Fukuoka, Japan, pp. 83-88, 1998
Search in Google Scholar
20. Strand J.P., Fossen T.I.: Nonlinear Output Feedback and Locally Optimal Control of Dynamically Possitioned Ships: Experimental Results, In: Procedings of IFAC Conference onControl Applications in Marine Systems (CAMS-98), Fukuoka, Japan, pp. 89-94, 1998
Search in Google Scholar
21. Fossen T.I., Grovlen A.: Nonlinear output feedback control of dynamic positioned ships using vectorial observer backstepping, IEEE Transactions on Control Systems Technology, Vol. 6, No. 1, pp. 121-128, 199810.1109/87.654882
Search in Google Scholar
22. Bertin D., Bittani S., Meroni S., Savaresi S.M.: Dynamic positioning of a single-thruster vessel by feedback linearization, Proceedings of the 5th IFAC conference on manoeuvering andcontrol of marine crafts, (MCMC-2000), Aalborg, Denmark. pp.281-286, 2000
Search in Google Scholar
23. Fossen T.I., Strand J.P.: Passive nonlinear observer design for ships using Lyapunov methods: Experimental results with a supply vessel, Automatica, Vol. 35, No. 1, pp. 3-16, 199910.1016/S0005-1098(98)00121-6
Search in Google Scholar
24. Strand J.P., Fossen T.I.: Nonlinear passive observer design for ships with adaptive wave filtering. New Directions in NonlinearObserver Design (Nijmejer H., Fossen T.I., Editors). pp. 113-134. Springer-Verlag, London Ltd., 199910.1007/BFb0109924
Search in Google Scholar
25. Strand J.P.: Nonlinear position control systems design formarine vessels, PhD Thesis, Norwegian University Science & Technology, Deptment of Engineering Cybernetics, Trondheim, Norway, 1999
Search in Google Scholar
26. Pettersen K.Y., Fossen T.I.: Underactuated Dynamic Positioning of a Ship - Experimental Results, IEEE Transactions on ControlSystems Technology, Vol. 8, No. 5, pp. 856-863, 200010.1109/87.865859
Search in Google Scholar
27. Pettersen K.Y., Mazenc F., Nijmeijer H.: Global uniform Asymptotic Stabilization of an Underactuated Surface Vessel: Experimental Results, Transactions on Control SystemsTechnology, Vol. 12, No. 6, pp. 891-903, 200410.1109/TCST.2004.833643
Search in Google Scholar
28. Agostinho A.C., Moratelli L., Tannuri E.A., Morishita H.M.: Sliding mode control applied to offshore dynamic positioning systems, Proceedings of the 8th IFAC International Conferenceon Maneouvering and Control of Marine Craft, MCMC-2009, Guaruja Brazil, 200910.3182/20090916-3-BR-3001.00037
Search in Google Scholar
29. Tannuri E.A., Agostinho A.C., Morishita H.M., Moratelli L.: Dynamic positioning systems: An experimental analysis of sliding mode control, Control Enginering Practice, Vol. 18, No. 10, pp. 1121-1132, 201010.1016/j.conengprac.2010.06.007
Search in Google Scholar
30. Hespanha J.P.: Tutorial on Supervisory Control, Lecture Notes for the Worhshop Control using Logic Switching for the40th Conference on Decision and Control, Orlando Florida, 2001.
Search in Google Scholar
31. Hespanha J.P., Morse A.S.: Switching between Stabilizing Controllers. Automatica, Vol. 38, No. 11, pp. 1905-1917, 200210.1016/S0005-1098(02)00139-5
Search in Google Scholar
32. Hespanha J.P., Liberzon D., Morse A.S.: Hysteresis-based Switching Algorithms for Supervisory Control of Uncertain Systems. Automatica, Vol. 39, No 2, pp. 263-272, 200310.1016/S0005-1098(02)00241-8
Search in Google Scholar
33. Blanke M., Kinnaert M., Lunze J., Staroswiecki M.: Diagnosticsand Fault-Tolerant Control. Springer-Verlag, Berlin, Germany, 200310.1007/978-3-662-05344-7
Search in Google Scholar
34. Sorensen A.J., Queck S.T., Nguyen T.D.: Improved operability and safety of DP vesels using hybrid control concept. Proceedings of the International conference on technology &operation of offshore support vessels (OSV), 20 - 21 September, Singapore, 2005
Search in Google Scholar
35. Nguyen T.D.: Design of Hybrid Marine Control Systemsfor Dynamic Positioning, PhD Thesis, Department of Civil Engineering, National University of Singapore, 2006
Search in Google Scholar
36. Nguyen T.D., Sorensen A.J.: Switching control for thrusterassisted position mooring. Control Enginering Practice, Vol. 17, No. 9, pp. 985-994, 200910.1016/j.conengprac.2009.03.001
Search in Google Scholar
37. Morishita H.M., Cornet B.J.J.: Dynamics of a turret-FPSO and shuttle vessel due to current. Proceedings of IFAC Conferenceon Control Applications in Marine Systems, (CAMS-98), 27-30 October, Fukuoka, Japan, pp. 93-98., 199810.1016/S1474-6670(17)38423-9
Search in Google Scholar
38. Morishita H.M., Tannuri E.A., Bravin T.T.: Methodology for dynamic analysis of offloading operations, Proceedings ofIFAC Conference on Control Applications in Marine Systems, (CAMS-2004), July 7-9, Ancona, Italy, pp. 459-464, 200410.1016/S1474-6670(17)31774-3
Search in Google Scholar
39. Tannuri E.A., Morishita H.M.: Experimental and numerical evaluation of a typical dynamic positioning system, AppliedOcean Research, Vol. 28, No. 2, pp. 133-146, 200610.1016/j.apor.2006.05.005
Search in Google Scholar
40. Tannuri E.A., Saad A.C., Morishita H.M.: Offloading operation with a DP shutle tanker: Comparison between full scale measurement and numerical simulation results. Proceedings ofthe IFAC International Conference on Maneuvering, Guaruja, Brazil, 200910.3182/20090916-3-BR-3001.0021
Search in Google Scholar
41. Tomera M.: Discrete Kalman filter design for multivariable ship motion control: experimental results with training ship, Joint Proceedings of Gdynia Maritime Academy & HochschuleBremerhaven, Bremerhaven, pp. 26-34, 2010
Search in Google Scholar
42. Tomera M.: Kalman-Bucy filter design for multivariable ship motion control, Methods and Algorithms in Navigation - MarineNavigation and Safety of Sea Transportation, Editors AdamWeintrit & Tomasz Neumann, Published by CRC Press/Balkema, pp. 21-31, 201110.1201/b11344-5
Search in Google Scholar
43. Tomera M., Nonlinear observers design for multivariable ship motion control, Polish Maritime Research, Accepted for print.
Search in Google Scholar
44. Gierusz W.: Simulation model of the shiphandling training boat „Blue Lady”, Proceedings of the 5th IFAC Conference onControl Application in Marine Systems (CAMS-2001), 18-20 July, Glasgow, Scotland, 2001
Search in Google Scholar
45. Fossen T.I.: Guidance and control of ocean vehicles, John Wiley & Sons, Chichester, UK, 1994
Search in Google Scholar
46. Fossen T.I.: Marine Control Systems: Guidance, Navigation,and Control of Ships, Rigs and Underwater Vehicles, Marine Cybernetics, Trondheim, Norway, 2002
Search in Google Scholar
47. Fossen T.I.: a Survey of Control Allocation Methods for Ships and Underwater Vehicles, Proceedings of the 14th IEEEMediterriaen Conference on Control and Automation, June 28- 30, Ancona, Italy, 2006 10.1109/MED.2006.328749
Search in Google Scholar

Dynamic positioning system design for “blue lady”. simulation tests

Abstract

Paradigm

My account