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A task space based weathervaning control for offshore vessels

Authors
Kim, Y.-S.Kim, J.Sung, H.-G.
Issue Date
2015
Publisher
International Society of Offshore and Polar Engineers
Keywords
Lyapunov stability; Nonlinear control; Offshore vessel; Task space; Weathervaning; Weathervaning control; Dynamic positioning
Citation
Proceedings of the International Offshore and Polar Engineering Conference, v.2015-January, pp 240 - 248
Pages
9
Journal Title
Proceedings of the International Offshore and Polar Engineering Conference
Volume
2015-January
Start Page
240
End Page
248
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8667
ISSN
1098-6189
Abstract
A nonlinear weathervaning control algorithm for offshore vessels is designed in the task space under consideration of Lyapunov stability theory. When a Dynamic Positioning (DP) offshore vessel, that is doing offshore operation such as on-loading and off-loading, drilling, oil producing, etc., occasionally faces significant changes of environmental force due to changes of wind, wave, and current condition in the ocean. In this situation, one possible scenario is that the vessel changes its heading without change of controlled position reducing the environmental load acting on the DP vessel. This function of DP vessels is called as weathervaning operation. In this paper, a new method of weathervaning control algorithm without any measurement for wind, wave, and current, so called a task space based weathervaning control algorithm, is introduced. The proposing control algorithm is formulated in a task space which is related with the control objective point on the DP vessel. And Lyapunov stability theory is considered in the formulation of nonlinear controller to achieve global stability. A set of experiments and simulations is designed to demonstrate the performance of the proposing task space based weathervaning control algorithm for DP vessels under significant changes of environmental condition on the ocean. Copyright ? 2015 by the International Society of Offshore and Polar Engineers (ISOPE).
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친환경해양개발연구본부 > 친환경연료추진연구센터 > Journal Articles
친환경해양개발연구본부 > 심해공학연구센터 > Journal Articles

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친환경해양개발연구본부 (심해공학연구센터)
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