Development of Dynamic Positioning System for Deep Sea Floating Structure

海上漂浮平台是开发海洋矿产资源的有利平台，目前正在运营大量的平台。使用说明要求平台在洋流、风浪等外力作用下保持位置不变。通常采用系泊系统或推进器动力定位系统来保持位置。然而，原有的系统并不能很好地防止慢漂移振荡。后者需要大量的能量，因为推进器需要逆流或逆风连续工作。本文采用推进器辅助系泊系统。在该系统中，系泊用来保持位置不受海流和风的外力的影响。推进器用于防止慢漂移振荡。在此基础上，进行了浮式平台模型水动力的实验和计算，设计了控制器。从运动仿真的结果可以看出，能量得到了降低。

A floating offshore platorm is useful to develop mineral resources in the ocean and a lot of platform are being operated. The directions for use requires that platforms keep the position under the external forces such as ocean current, wind or waves. Generally, mooring system or dynamic positioning system by thrusters are used to keep the potision. However, the former system can not prefectly prevent the slow drift oscillation. The latter system requires a lot of energy because the thrusters have to work continually against current or wind.In this paper, thruster assisted mooring system is adopted. In this system, mooring is used to keep the position against the external forcde by current and wind. The thrusters are used to prevent the slow drift oscillation. The it is expected that the energy to keep the position is remarkably reduced.Experiments and calculations to obtain hydrodynamic forces acting on a floating platform model were carried out and controller was designed. From the results of simulation of motions, it was verified that the energy is reduced.