DP 시스템의 효율적인 추력분배 알고리즘에 관한 연구

Abstract

Recently, offshore plant industry gradually widens and goes to deep sea area. Anchor Handling Tug Supply vessel (AHTS) is widely used in the stage of installation and operation of offshore plants. AHTS intensively uses dynamic positioning (DP) functionality in operation procedure especially in suppling operation. Therefore, the DP capability is one of the key performance index for AHTS. In this study, DP capability evaluation of an AHTS is conducted. Two different thrust allocation algorithms are applied in thrust allocation and various failure modes in thruster system are also considered. A minimum power consumption(MPC) algorithm and a normalized minimum power consumption(nMPC) algorithm based on Lagrange multiplier method are used in thrust allocation for an AHTS. The results of DP capability evaluation for an AHTS are shown and compared in this paper.DP) functionality in operation procedure especially in suppling operation. Therefore, the DP capability is one of the key performance index for AHTS. In this study, DP capability evaluation of an AHTS is conducted. Two different thrust allocation algorithms are applied in thrust allocation and various failure modes in thruster system are also considered. A minimum power consumption(MPC) algorithm and a normalized minimum power consumption(nMPC) algorithm based on Lagrange multiplier method are used in thrust allocation for an AHTS. The results of DP capability evaluation for an AHTS are shown and compared in this paper.