DESIGN AND EXPERIMENTAL VALIDATION OF A CONTROL SYSTEM FOR DYNAMIC POSITIONING OF A SHUTTLE TANKER

Abstract

In this paper, a dynamic positioning performance evaluation procedure for a shuttle tanker is discussed through experimental and numerical analyses. A dynamically positioned shuttle tanker with six thrusters (three tunnel thrusters, two azimuth thrusters, and one main propeller with a rudder), operated in deep water condition was considered. A conventional proportional-derivative control algorithm was adopted for the main feedback control algorithm to reduce the position error, and an anti-windup integral control algorithm was introduced to suppress the steady-state error in the dynamic positioning operation. A minimum power consumption algorithm, based on the Lagrange multiplier method, was utilised in the thrust allocation for the thruster systems. An extended Kalman filter was used in the experiment to separate the low-frequency motion from the measured vessel motion. A set of experiments and numerical analyses were conducted in this study under the same environmental conditions and with the same control methodology. The dynamic positioning operation results obtained by the experiments and numerical simulations were compared to evaluate the station-keeping performance of the dynamically positioned shuttle tanker.