This paper researches how to apply the advanced control technology of model predictive control （MPC） to the design of the dynamic positioning system （DPS） of a semi-submersible platform. First, a linear low-freque...This paper researches how to apply the advanced control technology of model predictive control （MPC） to the design of the dynamic positioning system （DPS） of a semi-submersible platform. First, a linear low-frequency motion model with three degrees of freedom was established in the context of a semi-submersible platform. Second, a model predictive controller was designed based on a model which took the constraints of the system into account. Third, simulation was carried out to demonstrate the feasibility of the controller. The results show that the model predictive controller has good performance and good at dealing with the constraints or the system.展开更多
This paper addresses the need for systematic evaluation of the station keeping systems of deepwater drilling semi-submersibles.Based on the selected drilling semi-submersible configuration, the mooring systems were an...This paper addresses the need for systematic evaluation of the station keeping systems of deepwater drilling semi-submersibles.Based on the selected drilling semi-submersible configuration, the mooring systems were analyzed and designed for a range of water depths using different mooring line materials.These were steel wire rope, polyester rope and HMPE (high modulus poly ethylene).The mooring analysis was carried out using the advanced fully coupled time domain analysis method in the computer software package HARP.Diffraction analysis was first applied to solve the hydrodynamic properties of the vessel and then the motion equations of the complete dynamic system including the drilling rig, the mooring lines and risers were developed and solved in the time domain.Applying the advanced analysis method, a matrix of mooring systems was developed for operating in water depths of 1000 m, 1500 m, and 2 000 m using various mooring materials.The development of mooring systems was conducted in accordance with the commonly adopted mooring design code, API RP 2SK and API RP 2SM.Fresh attempts were then made to comparatively evaluate the mooring system's characteristics and global performance.Useful results have been obtained in terms of mooring materials, water depths, and key parameters of mooring configurations.The results provide in-depth insight for the design and operation of deepwater mooring systems in the South China Sea environment.展开更多
A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean current...A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.展开更多
The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and phy...The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and physical models. The virtual prototype has remarkable advantages in its application simulation processes. It is not only faster and more veracious, but also of better visualization of the simulation results.展开更多
基金Supported by the Basic Research Foundation of Central University(HEUCFZ1003)
文摘This paper researches how to apply the advanced control technology of model predictive control （MPC） to the design of the dynamic positioning system （DPS） of a semi-submersible platform. First, a linear low-frequency motion model with three degrees of freedom was established in the context of a semi-submersible platform. Second, a model predictive controller was designed based on a model which took the constraints of the system into account. Third, simulation was carried out to demonstrate the feasibility of the controller. The results show that the model predictive controller has good performance and good at dealing with the constraints or the system.
基金Supported by China National 111 Project under Grant No.B07019
文摘This paper addresses the need for systematic evaluation of the station keeping systems of deepwater drilling semi-submersibles.Based on the selected drilling semi-submersible configuration, the mooring systems were analyzed and designed for a range of water depths using different mooring line materials.These were steel wire rope, polyester rope and HMPE (high modulus poly ethylene).The mooring analysis was carried out using the advanced fully coupled time domain analysis method in the computer software package HARP.Diffraction analysis was first applied to solve the hydrodynamic properties of the vessel and then the motion equations of the complete dynamic system including the drilling rig, the mooring lines and risers were developed and solved in the time domain.Applying the advanced analysis method, a matrix of mooring systems was developed for operating in water depths of 1000 m, 1500 m, and 2 000 m using various mooring materials.The development of mooring systems was conducted in accordance with the commonly adopted mooring design code, API RP 2SK and API RP 2SM.Fresh attempts were then made to comparatively evaluate the mooring system's characteristics and global performance.Useful results have been obtained in terms of mooring materials, water depths, and key parameters of mooring configurations.The results provide in-depth insight for the design and operation of deepwater mooring systems in the South China Sea environment.
文摘A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.
文摘The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and physical models. The virtual prototype has remarkable advantages in its application simulation processes. It is not only faster and more veracious, but also of better visualization of the simulation results.
