检索结果-内蒙古大学图书馆

dynamic positioning system for a ship on harbour manoeuvringwith different observers. Experimental results

POLISH MARITIME RESEARCH 2014年第3期21卷 13-24页

作者： Tomera, Miroslaw Gdynia Maritime Univ PL-81225 Gdynia Poland

In cases when the navigational space of the manoeuvre performed by the ship is severely limited, the procedures making use of the rudder blade, propeller screw, and thrusters are very complicated. Such situations take place when the ship manoeuvres inside the harbour area and in those cases the structure of the control system is very complex. The article describes the algorithm of multivariable control of ship motion over the water surface, which makes use of the state vector consisting of 6 variables. Three of them, which are the position coordinates (x, y) measured by the DGPS system and the ship heading y measured by gyro-compass, were obtained experimentally. The three remaining variables, which are the velocities in surge u, sway v, and yaw r directions, were estimated by Kalman filter, KalmanBucy filter and extended Kalman filter, respectively. The control algorithms making use of these observers were examined using the training ship "Blue Lady" which was navigated on the lake Silm in Ilawa/Kamionka in the Ship Handling Research and Training Centre owned by the Foundation for Safety of Navigation and Environment Protection. The experimental results obtained using control systems with three observers were finally compared between each other.

关键词： dynamic positioning system Manoeuvring control Observers Real-time experiments

来源：评论

学校读者我要写书评

暂无评论

dynamic positioning system design for "Blue Lady". Simulation tests

引用

POLISH MARITIME RESEARCH 2012年第S1(74)期19卷 57-65页

作者： Tomera, Miroslaw Gdynia Maritime Univ PL-81225 Gdynia Poland

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

关键词： dynamic positioning system marine systems ship control

来源：评论

学校读者我要写书评

暂无评论

Network-based sampled-data control for unmanned marine vehicles with dynamic positioning system

引用

INTERNATIONAL JOURNAL OF VEHICLE DESIGN 2020年第1-4期84卷 118-136页

作者： Zheng, Minjie Yang, Shenhua Li, Lina Jimei Univ Nav Coll Xiamen 361021 Peoples R China

This paper investigates the network-based stabilisation problems for an unmanned marine vehicle (UMV) based on sampled-data control. Firstly, the network-based model for the UMV with dynamic positioning system (DPS) is established. Then the criteria for asymptotically stability analysis and controller synthesis are provided by means of linear matrix inequalities. To reduce the conservatism of system, convex reciprocal inequalities are introduced. Finally, an illustrative example is exhibited to demonstrate that the sampled-data controller is effective to guarantee that the states of the UMV are stable under the external disturbance.

关键词： UMV unmanned marine vehicle DPS dynamic positioning system network-based control sampled-data control linear matrix inequalities convex reciprocal inequalities Lyapunov-Krasovskii function H-infinity performance

来源：评论

学校读者我要写书评

暂无评论

Modified observer backstepping controller for a dynamic positioning system

引用

CONTROL ENGINEERING PRACTICE 2014年 33卷 105-114页

作者： Morishita, H. M. Souza, C. E. S. Univ Sao Paulo Dept Naval Architecture & Ocean Engn Sao Paulo Brazil

A procedure for attenuating the control law of a vessel dynamic positioning system, based on the observer backstepping methodology, is proposed. The motivation is the appearance of an undesirable on-off behavior on the signal sent to the actuators when their saturation is considered and the control law is dependent on estimated state variables. Two gain matrices associated with the error variables are introduced to achieve the desired attenuation. Stability is proven through Lyapunov stability analysis. Numerical simulations confirm the effectiveness of the proposed controller to render the control law compatible with the limitations of the actuators. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： dynamic positioning system Observer backstepping controller Nonlinear observer

来源：评论

学校读者我要写书评

暂无评论

A study on the key performance indicator of the dynamic positioning system

引用

INTERNATIONAL JOURNAL OF NAVAL ARCHITECTURE AND OCEAN ENGINEERING 2016年第5期8卷 511-518页

作者： Park, Kwang-Phil Jo, A-Ra Choi, Jin-Woo Daewoo Shipbldg & Marine Engn Co LTD Seoul South Korea

The dynamic positioning system (DPS) maintains an offshore vessel's position and heading under various environmental conditions by using its own thrust. DPS is regarded as one of the most important systems in offshore vessels. So, efficient operation and maintenance of the DPS are important issues. To monitor the DPS, it is necessary to define an appropriate key performance indicator (KPI) that can express the condition of the DPS from the perspective of operational efficiency and maintenance. In this study, a new KPI for the DPS is proposed considering the efficiency of the machinery and controller, the energy efficiency, and the environmental conditions in which the DPS is operated. The KPI is defined as a function of control deviation, energy consumption, and environmental load. A normalization factor is used to normalize the effect of environmental load on the KPI. The KPI value is calculated from DPS simulation and model test data. The possibility of applying the KPI to monitoring of DPS condition is discussed by comparing the values. The result indicates the feasibility of the new KPI. Copyright (C) 2016 Society of Naval Architects of Korea. Production and hosting by Elsevier B.V.

关键词： dynamic positioning system Key performance indicator Condition monitoring

来源：评论

学校读者我要写书评

暂无评论

Adaptive Backstepping Sliding Mode dynamic positioning system for Pod Driven Unmanned Surface Vessel Based on Cerebellar Model Articulation Controller

引用

IEEE ACCESS 2020年 8卷 48314-48324页

作者： Piao, Zaiji Guo, Chen Sun, Shuang Dalian Maritime Univ Sch Marine Elect Engn Dalian 116026 Peoples R China Dalian Maritime Univ Sch Maritime Econ & Management Dalian 116026 Peoples R China

The dynamic positioning system is a system that ships rely on their own propulsion devices to maintain position and course. Pod propulsion was more and more installed in dynamic positioning unmanned surface vessels because it can rotate 360 degrees freely. The maximum disturbance of unmanned surface vessel dynamic positioning comes from the forces and moments generated by the ocean wind, wave and current. In order to improve its accuracy of disturbance rejection, the mathematical model of the vessel was established according to the special structure of pod propulsion ship, and the calculations of the forces and moments of wind, wave and current are given. Then, the sliding mode controller based on approach law and adaptive backstepping were designed, and optimal controller based on cerebellar model articulation controller (CMAC) was further designed. The tracking differentiator was added to eliminate the large chattering in the initial stage of the system. Finally, the simulation verification was carried out. It can be seen from the results that the control law designed has better control effects than traditional sliding mode control and can realize dynamic positioning of pod driven unmanned surface vessel under certain disturbances.

关键词： Marine vehicles Sliding mode control Propulsion Sea surface Force Adaptation models Mathematical model Cerebellar model articulation controller dynamic positioning system pod propulsion sliding mode control unmanned surface vessel

来源：评论

学校读者我要写书评

暂无评论

RAM analysis of dynamic positioning system: An approach taking into account uncertainties and criticality equipment ratings

引用

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART O-JOURNAL OF RISK AND RELIABILITY 2022年第6期236卷 1104-1134页

作者： Clavijo, Maria, V Schleder, Adriana M. Droguett, Enrique Lopez Martins, Marcelo R. Univ Sao Paulo Naval Architecture & Ocean Engn Dept Anal Evaluat & Risk Management Lab Sao Paulo Brazil Sao Paulo State Univ UNESP Dept Prod Engn Rua Geraldo Alckmim 519 BR-18409010 Sao Paulo Brazil Univ Calif Los Angeles Dept Civil & Environm Engn Los Angeles CA USA Univ Calif Los Angeles Garrick Inst Risk Sci Los Angeles CA USA

Currently, a dynamic Position (DP) system is commonly used for offshore operations. However, DP failures may generate environmental and economic losses;thus, this paper presents the Reliability, Availability and Maintainability (RAM) analysis for two different generations of DP system (DP2 and DP3) used in drilling operations. In addition to the RAM analysis, the approach proposed herein considers the uncertainties present in the equipment failure data and provides more information about criticality equipment ratings and probability density functions (pdf) of the repair times. The reliability analysis shows that, for 3 months of operation, the total failure probability of the DP2 system is 1.52% whereas this probability for the DP3 system is only 0.16%. The results reveal that the bus-bar is the most critical equipment of the DP2 system, whereas the wind sensor represents the priority equipment in the DP3 system. Using 90% confidence level, each DP configuration was evaluated for a 1-year operation, finding a reliability mean equal to 70.39% and 86.77% for the DP2 system and the DP3 system, respectively. The DP2 system asymptotic availability tends to present a constant value of 99.98% whereas for the DP3 system, it tends to be 99.99%. Finally, the maintainability analysis allows concluding that the mean time for system repair is expected to be 3.6 h. This paper presents a logical pathway for analysts, operators, and reliability engineers of the oil and gas industry.

关键词： RAM Analysis dynamic positioning system Monte Carlo simulation fault tree analysis uncertainty propagation

来源：评论

学校读者我要写书评

暂无评论

Model predictive controller design for ship dynamic positioning system based on state-space equations

引用

JOURNAL OF MARINE SCIENCE AND TECHNOLOGY 2017年第3期22卷 426-431页

作者： Li, Wenhua Sun, Yuqing Chen, Haiquan Wang, Gang Dalian Maritime Univ Dept Marine Engn 1 Linghai Rd Dalian 116026 Liaoning Peoples R China

Model predictive control (MPC) algorithm based on state-space equations was applied to ship dynamic positioning control system. A state estimator was designed to solve the problem that not all the states used can be measured to improve the control accuracy of the system. Through simulation in MATLAB(A (R)), this paper analyzed and compared the model predictive controller with or without constraints and the state estimator. Simulation results on a supply ship verify the effectiveness of this proposed model predictive control algorithm based on state-space equations and show that the MPC controller with the state estimator can improve the control effect of dynamic positioning system of ships.

关键词： Ship dynamic positioning system Model predictive control algorithm State-space equations The state estimator

来源：评论

学校读者我要写书评

暂无评论

Experimental and numerical evaluation of a typical dynamic positioning system

引用

APPLIED OCEAN RESEARCH 2006年第2期28卷 133-146页

作者： Tannuri, E. A. Morishita, H. M. Univ Sao Paulo Dept Naval Architecture & Ocean Engn BR-05508030 Sao Paulo Brazil

A dynamic positioning system (DPS) is a complex control system composed of several algorithms, such as controllers, filters and optimal thrust allocation. The design, analysis and performance prediction of a DPS is normally done by a combination of static and dynamic numerical simulations and tank tests with a reduced model. After that, a long commissioning time is required to adjust control and filter parameters. This paper presents a computational dynamic simulator for DP systems, developed in a R&D project carried out at USP, called Numerical Offshore Tank (NOT). Some features of the simulator are the high speed calculation, thanks to a 120 processor cluster and the presentation of the results in a real time 3D-stereo visualization system. Furthermore, important parameters of the operation can be altered during the simulation, emulating a real DP console. It enables the simulation of most of a typical ship manoeuvering with DP especially those related to the offshore oil industry. Regarding offloading, the simulator can deal with multiple body systems taking into account the effects of risers, mooring lines and hawsers, if any. The Newtonian six-degrees-of-freedom model describes the dynamics of each vessel, in which validated models for environmental forces due to current, wind and waves are included. In order to pre-validate the simulator, a simplified experiment was set-up, composed of a reduced model of a DP tanker with 3 thrusters. Several experiments were carried out, and a detailed comparison with simulation results has shown very good agreement. Two loading conditions were considered: under the action of wind and current and the absence of both. (C) 2006 Elsevier Ltd. All rights reserved.

关键词： dynamic positioning system Kalman filter offloading operation

来源：评论

学校读者我要写书评

暂无评论

A Finite-Time Output Feedback Control Scheme for dynamic positioning system of Ships

引用

IEEE ACCESS 2019年 7卷 100638-100648页

作者： Fu, Mingyu Wang, Lulu Yu, Lingling Harbin Engn Univ Coll Automat Harbin 150001 Heilongjiang Peoples R China China Ship Dev & Design Ctr Wuhan 430064 Hubei Peoples R China

This paper develops a finite-time output feedback control scheme for dynamic positioning (DP) system of ships in the presence of unmeasured states of ships, unknown dynamic model parameters and unknown time-varying environment disturbances. A novel finite-time extended state observer (FTESO) is first proposed to simultaneously and precisely estimate the unmeasured states of ships, unknown dynamic model parameters, and unknown time-varying environment disturbances in finite time. Second, based on the outputs of FTESO, the terminal sliding mode (TSM) controller is designed to guarantee that the DP system can track the position and heading at desired values in finite time with precise performance. Then, it is proved that all error signals of the closed-loop DP control system can converge to zero in finite time by utilizing the homogeneous method and the Lyapunov stability theory. Finally, the numerical simulations on a supply ship are carried out to illustrate the effectiveness of the proposed finite-time output feedback control scheme.

关键词： dynamic positioning system finite-time extended state observer terminal sliding mode output feedback disturbances

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：