Research and Development on a Training Simulator for Reentry Operations of a Deep-sea Drilling Ship and Its Assisting System

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For a deep sea drilling vessel'CHIKYU' which is the first riser equipped drilling vessel, the research is concerned with a reentry control problem of moving a riser pipe hanged off and positioning its Lower Marine Riser Package just above a Blow-Out Preventer. It is hard to solve the problem by means of a PID control because of its flexible structural dynamics. Based on design results of control systems for dynamic reentry under a steady current, its training simulator is discussed by HILS (Hardware In the Loop Simulation).