Ocean Systems Engineering

Techno-Press (테크노프레스)
권호 표지
DOI QR코드

DOI QR Code

An alternative portable dynamic positioning system on a barge in short-crested waves using the fuzzy control

  • Fang, Ming-Chung (Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University) ;
  • Lee, Zi-Yi (Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University)
  • Received : 2015.05.13
  • Accepted : 2015.09.01
  • Published : 2015.09.25
⟨ Previous Next ⟩

Abstract

The paper described the nonlinear dynamic motion behavior of a barge equipped with the portable outboard Dynamic Positioning(DP) control system in short-crested waves. The DP system based on the fuzzy theory is applied to control the thrusters to optimally adjust the ship position and heading in waves. In addition to the short-crested waves, the current, wind and nonlinear drifting force are also included in the calculations. The time domain simulations for the six degrees of freedom motions of the barge with the DP system are solved by the $4^{th}$ order Runge-Kutta method. The results show that the position and heading deviations are limited within acceptable ranges based on the present control method. When the dynamic positioning missions are needed, the technique of the alternative portable DP system developed here can serve as a practical tool to assist those ships without equipping with the DP facility.

Keywords

References

  1. Balchen, J.G., Jenssen, N.M., Mathisen, E. and Salid, S. (1980), "A dynamic positioning system based on Kalman filtering and optimal control", MIC, 1(3), 135-163. https://doi.org/10.4173/mic.1980.3.1
  2. Crossland, P. and Johnson, M.C. (1998), "A time domain simulation of deck wetness in head seas," Proceedings of the RINA International Conference on Ship Motions and Maneuverability, London, UK, February.
  3. Du, J., Yang, Y., Wang, D. and Guo, C. (2013), "A robust adaptive neural networks controller for maritime dynamic positioning system", Neurocomputing, 110, 128-136. https://doi.org/10.1016/j.neucom.2012.11.027
  4. Fang, M.C. and Chiou, S.C. (2000), "SWATH ship motion simulation based on a self-tuning fuzzy control", J. Ship Res., 44, 108-119.
  5. Fang, M.C. and Luo, J.H. (2005), "The nonlinear hydrodynamic model for simulating a ship steering in waves with autopilot system", Ocean Eng., 32(11-12), 1486-1502. https://doi.org/10.1016/j.oceaneng.2004.09.008
  6. Fang, M.C. and Zhuo, Y.Z. (2010), "The application of the self-tuning neural network PID controller on the ship roll reduction in random waves", Ocean Eng., 37(7), 529-538. https://doi.org/10.1016/j.oceaneng.2010.02.013
  7. Fang, M.C. and Lee, Z.Y. (2013), "Portable dynamic positioning control system on a barge in short-crested waves using the neural network algorithm", China Ocean Eng., 27(4), 469-480. https://doi.org/10.1007/s13344-013-0040-x
  8. Fay, H. (1989), Dynamic Positioning Systems, Principles, Design and Applications, Editions Technip, Paris, France.
  9. Hemerly, E.M. and Nascimento Jr, C.L. (1999), "An NN-based approach for tuning servo controllers", Neural Networks, 12(3), 513-518. https://doi.org/10.1016/S0893-6080(98)00147-6
  10. Ho, W.H., Chen, S.H. and Chou, J.H. (2013), "Optimal control of Takagi-Sugeno fuzzy-model-based systems representing dynamic ship positioning systems", Appl. Soft Comput., 13(7), 3197-3210. https://doi.org/10.1016/j.asoc.2013.02.019
  11. Inoue, Y. and Du, J. (1995), "An application of self-tuning fuzzy controller to dynamic positioning system of floating production system", Proceedings of the 14th Int. Conf. on Offshore Mechanics and Arctic Engineering, Copenhagen, June.
  12. Isherwood, R.M. (1973), "Wind resistance of merchant ships", Transactions of RINA, 115, 327-338.
  13. ITTC (2005), "Recommended procedures and guidelines, Recommendations of ITTC for parameters, Rev. 02", Proceedings of the International Towing Tank Conference, Edinburgh, UK, September.
  14. Johansen, T.A., Fossen, T.I. and Vik, B. (2005), "Hardware-in-the-loop testing of DP systems", Proceedings of the DP Conference, Houston, US, November.
  15. Kang, H.Y. and Kim, M.H. (2014), "Safety assessment of caisson transport on a floating dock by frequency- and time-domain calculations", Ocean Syst. Eng., 4(2), 99-115. https://doi.org/10.12989/ose.2014.4.2.099
  16. Lee, T.H., Cao, Y.S. and Lin, Y.M. (2002), "Dynamic positioning of drilling vessels with a fuzzy logic controller", Int. J. Syst.Sci., 33(12), 979-993. https://doi.org/10.1080/0020772021000046289
  17. Maritime Reporter (2002), Creating a Portable Dynamic Positioning System, Maritime Reporter and Engineering News, January, 46.
  18. Mamdani, E.H. (1974), "Applications of fuzzy algorithms for simple dynamic plant", Proc. IEEE, 121(12), 1585-1588.
  19. Michel, W.H. (1999), "Sea spectra revisited". Marine Technol., 36(4), 211-227.
  20. Morgan, M.J. (1978), Dynamic Positioning of Offshore Vessels, Petroleum Publishing Co, Tulsa, Oklahoma, US.
  21. Nienhuis, Ir. U. (1986), "Simulation of low frequency motions of dynamically positioned offshore structures", The Royal Institution of Naval Architects, 129, 127-145.
  22. Perez, T. and Donaire, A. (2009), "Constrained control design for dynamic positioning of marine vehicles with control allocation", Modell. Identification Control, 30(2), 57-70. https://doi.org/10.4173/mic.2009.2.2
  23. Saelid, S., Jenssen, N.A. and Balchen, J.G. (1983), "Design and analysis of a dynamic positioning system based on Kalman filtering and optimal control", IEEE T. Automat. Contr., 28(3), 331-339. https://doi.org/10.1109/TAC.1983.1103225
  24. Salvesen, N. (1974), "Second-order steady state forces and moments on surface ships in oblique regular waves", Proceedings of the Symp. On Dynamics of Marine Vehicles and Structures in Waves, London, December.
  25. Stephens, R.I., Burnham, K.J. and Reeve, P.J. (1995), "A practical approach to the design of fuzzy controllers with application to dynamic ship positioning", Proceedings of IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway, May.
  26. Sorensen, A.J., Sagatun, S.I. and Fossen, T.I. (1996), "Design of a dynamic positioning system using model-based control", Control Eng. Pract., 4(3), 359-368. https://doi.org/10.1016/0967-0661(96)00013-5
  27. Sorensen, A.J. (2011), "A survey of dynamic positioning control systems", Annu. Rev. Control, 35(1), 123-136. https://doi.org/10.1016/j.arcontrol.2011.03.008
  28. Tannuri, E.A. and Donha, D.C. (2000), " $H_{\infty}$ controller design for dynamic positioning of turret moored FPSO", Proceedings of the IFAC Conference on Manoeuvring and Control of Marine Craft, Aalborg, Denmark, August.
  29. Tannuri, E.A., Agostinho, A.C., Morishita, H.M. and Moratelli, L. (2010), "Dynamic positioning systems: An experimental analysis of sliding mode control", Control Eng. Pract., 18(10), 1121-1132. https://doi.org/10.1016/j.conengprac.2010.06.007
  30. The International Marine Contractors Association (2000), Specification for DP Capability Plots, IMCA, M140 Rev. 1.
  31. Zadeh, L.A. (1965), "Fuzzy sets", Inform. Control, 8, 338-353. https://doi.org/10.1016/S0019-9958(65)90241-X