Wave motion compensation in dynamic positioning of small autonomous vessels
Wave motion compensation in dynamic positioning of small autonomous vessels
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DOI：
10.1007/s00773-020-00765-y
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发表时间：
2020-09-11
影响因子：
2.6
通讯作者：
Johansen, Tor A.
中科院分区：
文献类型：
--
作者：
Halvorsen, Hakon S.;overaas, Henning;Johansen, Tor A.
大型船舶上的传统动力定位(DP)系统主要补偿缓慢时变的环境作用力。在这样做的过程中，他们使用波滤波来防止DP补偿一阶波动。这减少了推进器和机械系统的磨损。在较小的自主船的情况下，船在波浪中的振荡运动可能更显著，推进器可以更动态。这促使在某些作业中使用DP来补偿水平波动。我们研究了采用加速度反馈、横摇阻尼、波动预测和最优调谐的DP控制和滤波算法的设计。以小型自主式水面舰艇为例，比较了六种控制策略，其中ROV的关键操作模式是通过波浪区发射和回收ROV。
Conventional dynamic positioning (DP) systems on larger ships compensate primarily for slowly time-varying environmental forces. In doing so, they use wave filtering to prevent the DP from compensating for the first-order wave motions. This reduces wear and tear of the thruster and machinery systems. In the case of smaller autonomous vessels, the oscillatory motion of the vessel in waves may be more significant, and the thrusters can be more dynamic. This motivates the use of DP to compensate for horizontal wave motions in certain operations. We study the design of DP control and filtering algorithms that employ acceleration feedback, roll damping, wave motion prediction, and optimal tuning. Six control strategies are compared in the case study, which is a small autonomous surface vessel where the critical mode of operation is launch and recovery of an ROV through the wave zone.