Title :
Thruster assisted position mooring system for turret-anchored FPSOs
Author :
Sørensen, Asgeir J. ; Strand, Jann Peter ; Fossen, Thor I.
Author_Institution :
Dept. of Marine Hydrodynamics, Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
A thruster assisted position mooring system includes different control functions for station keeping and motions damping of the horizontal-plane motions. A new nonlinear passivity-based state observer producing the thruster control actions has been implemented and verified in full-scale tests. Even though sophisticated filtering and control techniques are applied in the high-level control systems, unforeseen load peaks caused by process disturbances acting on the local actuation system may challenge the power plant stability, if no proper precaution is taken. Both high and low level control aspects concerning integrated positioning and electrical propulsion system are addressed
Keywords :
motion control; observers; position control; ships; stability; electrical propulsion system; floating production storage and off-loading ships; high-level control systems; horizontal-plane motions; local actuation system; motions damping; nonlinear passivity-based state observer; process disturbances; station keeping; thruster assisted position mooring system; turret-anchored FPSOs; unforeseen load peaks; Automatic control; Control systems; Drilling; Electrical equipment industry; Marine vehicles; Motion control; Petroleum; Power generation; Production systems; Safety;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.801128
