Feed-forward control for dynamic positioning in random waves based on quadratic impulse function and real-time wave measurement

Abstract The real-time estimation of second-order difference-frequency wave forces using real-time random-wave measurement is developed for the FF (feed-forward) control based dynamic positioning of floating offshore vessels and platforms. The efficacy of the developed FF control scheme is validated by using the in-house hull-mooring-riser-thruster fully coupled time-domain computer simulation program through comparisons with the results by the conventional feedback-control-only case. The feedback (FB) control intends to reduce the accumulated position-excursion error, meanwhile the proposed feed-forward control compensates the controllable slowly-varying wave loads by activating thrusters in advance based on the real-time estimation of the second-order difference-frequency wave loadings using the real-time signal of random incident wave. The real-time estimation of the second-order difference-frequency wave loads is done by using the double-convolution integral with pre-calculated QIF (quadratic impulse function). The numerical DP system is successfully implemented with the FF control algorithm in the vessel-thruster fully coupled time-domain simulation program. The developed schemes are applied to a turret-moored FPSO (floating production storage offloading) with six dynamic-positioning (DP) azimuth thrusters in two non-collinear storm conditions. It is clearly demonstrated that the developed FF control scheme performs much better than the conventional feedback-control-only case. The corresponding reductions in horizontal offsets, motions, mooring tensions, and fuel consumptions by using the developed FF control scheme are underscored.

[1]  Moo-Hyun Kim,et al.  Fuel-Optimal Thrust-Allocation Algorithm Using Penalty Optimization Programing for Dynamic-Positioning-Controlled Offshore Platforms , 2018, Energies.

[2]  Guang Li,et al.  Robust Adaptive Control of an Offshore Ocean Thermal Energy Conversion System , 2020, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[3]  A. B. Aalbers,et al.  An application of dynamic positioning control using wave feed forward , 2001 .

[4]  国際港湾協会協力財団 International safety guide for oil tankers and terminals , 2006 .

[5]  E. G. Ward,et al.  Vessel/mooring/riser coupled dynamic analysis of a turret-moored FPSO compared with OTRC experiment , 2005 .

[6]  H. Y. Kang,et al.  Turret location impact on global performance of a thruster-assisted turret-moored FPSO , 2016 .

[7]  Moo-Hyun Kim,et al.  Numerical modeling of internal waves within a coupled analysis framework and their influence on spar platforms , 2015 .

[8]  Moo-Hyun Kim,et al.  DIFFERENCE-FREQUENCY WAVE LOADS ON A LARGE BODY IN MULTI-DIRECTIONAL WAVES , 1992 .

[9]  D. Yue,et al.  Sum-and Difference-Frequency Wave Loads on a Body in Unidirectional Gaussian Seas , 1991 .

[10]  Tor Arne Johansen,et al.  Control allocation - A survey , 2013, Autom..

[11]  Shuzhi Sam Ge,et al.  Top Tension Control of a Flexible Marine Riser by Using Integral-Barrier Lyapunov Function , 2015, IEEE/ASME Transactions on Mechatronics.

[12]  J. N. Newman,et al.  THE COMPUTATION OF SECOND-ORDER WAVE LOADS , 1991 .

[13]  Chan K. Yang,et al.  The structural safety assessment of a tie-down system on a tension leg platform during hurricane events , 2011 .

[14]  Chan K. Yang,et al.  Transient effects of tendon disconnection of a TLP by hull–tendon–riser coupled dynamic analysis , 2010 .

[15]  Greg Hughes,et al.  Improved Dynamic Positioning Using Wave Feed Forward , 2011 .