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Perspectives on Transport of Water versus Transport over Water Read chapter Read first chapter

2015 | OriginalPaper | Chapter

17. Wave Filtering and Dynamic Positioning of Marine Vessels Using a Linear Design Model: Theory and Experiments

Authors : V. Hassani, A. M. Pascoal

Published in: Transport of Water versus Transport over Water

Publisher: Springer International Publishing

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Abstract

This chapter describes a procedure to obtain an improved design model of ships subjected to the influence of currents and sea waves. The model structure is at the heart of the application of new techniques in control and estimation theory to the problem of Dynamic Positioning (DP) and wave filtering of marine vessels. The model proposed captures the physics of the problem at hand in an effective manner and includes the sea state as an uncertain parameter. This allows for the design of advanced control and estimation algorithms to solve the DP and wave filtering problems under different sea conditions. Numerical simulations, carried out using a high fidelity nonlinear DP system simulator, illustrate the performance improvement in wave filtering as a result of the use of the proposed model. Furthermore, using Monte-Carlo simulations the performance of three DP controllers, designed based on the plant model developed, is evaluated for different sea conditions. The first controller is a nonlinear multivariable PID controller with a passive observer. The second controller is of the Linear Quadratic Gaussian type and the third controller builds on \(\mathcal{H}_{\infty }\) control techniques using the mixed-μ synthesis methodology. The theoretical results are experimentally verified and the performance of wave filtering in DP systems operated with the controllers designed for different sea conditions are further examined by model testing a DP operated ship, the Cybership III, in a towing tank equipped with a hydraulic wavemaker.

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previous chapter Technological Challenges and Developments in European Inland Waterway Transport
next chapter Closed-Loop Identification and Control of Inland Vessels
Footnotes
1
In six degrees-of-freedom dynamics, (17.8) is written as \(M(w)\ddot{\eta }_{R\omega } + D_{p}(w)\dot{\eta }_{R\omega } + G\eta _{R\omega } =\tau _{\text{wave1}}\), where \(G \in \mathbb{R}^{6\times 6}\) is the linearized restoring coefficient matrix due to the gravity and buoyancy affecting heave, roll, and pitch only (see [26] for more details). Throughout this chapter a three degrees-of-freedom dynamics is used for the design purposes, while a six degrees-of-freedom dynamics is used in the simulation.
 
2
It is worth to mention that the evolution of the WF components of motion, given by (17.1) and (17.2), are in fact a simplification of (17.8) and (17.9).
 
3
In long-crested irregular sea, the sea elevation can be assumed statistically stable. See [26] for details and differences between long- and short-crested seas.
 
4
When designing observers for wave filtering in dynamic positioning, since the controller regulates the heading of the vessel, the designer can assign a new intensity to w b f ; however, assigning the intensity of the noise in practice requires considerable expertise.
 
5
All the gains are optimally tuned for the observer designed using the model described in (17.1)–(17.7). Such a selection favors the old DP model; however, a comparison of the results of simulations shows that the observer designed using the newly proposed model yields better performance.
 
6
At this point, we should emphasize that the observers are designed according to the simple model of (17.10)–(17.15) [and (17.1)–(17.7)] while they are tested in the MCSim using a high fidelity model which captures hydrodynamic effects, generalized coriolis and centripetal accelerations, nonlinear damping and current forces, and generalized restoring forces. Moreover, in the MCSim the JONSWAP wave spectrum is used to simulate the waves while the observers are designed using a linear second order approximation of the spectrum.
 
7
Wave filtering in the robust DP controller is not implemented explicitly, see [15, 16] for details.
 
8
All the results are presented in full scale. During the testing phase care was taken to ensure that all controllers were tuned to their best performance, so as to allow for a fair comparative study.
 
9
For technical reasons in this experiment the tunnel thruster was deactivated.
 
10
Before a DP system is functional, the state estimate of the filter in the DP system should converge to its steady state performance; this initialization may take tens of minutes.
 
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Metadata
Title
Wave Filtering and Dynamic Positioning of Marine Vessels Using a Linear Design Model: Theory and Experiments
Authors
V. Hassani
A. M. Pascoal
Copyright Year
2015
Book
Transport of Water versus Transport over Water

Print ISBN: 978-3-319-16132-7

Electronic ISBN: 978-3-319-16133-4

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-16133-4_17

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