Dynamic Tension Allocation of Ship Mobile Mooring System under Sea Wind

The mobile mooring system of ships usually consists of dozen of anchor windlasses, and it is an important question how these windlasses coordinate to fulfill the commanded tension input. The tension allocation of mobile mooring system with eight anchor windlasses is formulated in this study. The tension allocation problem is defined as an optimization problem and an active set method is adopted to find the optimized solutions. The simulation results show that the mobile mooring system is able to allocate dynamically the tension of each anchor windlass, and keep the ship at the desired position under sea wind.

[1]  Tor Arne Johansen,et al.  Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming , 2004, IEEE Transactions on Control Systems Technology.

[2]  A.J. Sorensen,et al.  Thruster assisted position mooring system for turret-anchored FPSOs , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[3]  Song Jia-zong.  Optimal control model of ship′s mobil mooring system and quasi-static mooring line analyses , 2001 .

[4]  Yu Jiancheng,et al.  Constrained Nonlinear Control Allocation of a 7000m Manned Submarine Using Sequential Quadratic Programming , 2006 .

[5]  Xiang Qin-rui.  New Development of Control Technique of Autonomous Underwater Vehicle , 2007 .

[6]  Wangqiang Niu,et al.  Constant Tension Control of the Anchor Chain of the Windlass under Sea Wind , 2008, 2008 International Workshop on Education Technology and Training & 2008 International Workshop on Geoscience and Remote Sensing.

[7]  C. Guedes Soares,et al.  Wind loads on marine structures , 1999 .

[8]  Cheng Jun-yong.  The development and research method of dynamic positioning system , 2002 .

[9]  Lars Nielsen,et al.  Vehicle Control Systems , 2005 .

[10]  Jerzy Garus.  OPTIMIZATION OF THRUST ALLOCATION IN THE PROPULSION SYSTEM OF AN UNDERWATER VEHICLE , 2004 .

[11]  Wang Yuanhui.  Marine Environment Modeling and Simulation for Dynamic Positioning , 2006 .

[12]  John M. Niedzwecki,et al.  RESPONSE CHARACTERISTICS OF MULTI-ARTICULATED OFFSHORE TOWERS , 1992 .

[13]  T.A. Johansen,et al.  A Survey of Control Allocation Methods for Ships and Underwater Vehicles , 2006, 2006 14th Mediterranean Conference on Control and Automation.