Reliability-based robust event-triggered anti-windup control for Arctic dynamic positioning of turret-moored vessels under ice loads

IF 4.6 2区 工程技术 Q1 ENGINEERING, CIVIL
Shasha Wang , Bingyao Tan , Yuanhui Wang , Zhouhua Peng , Yulong Tuo
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引用次数: 0

Abstract

This paper proposes a reliability-based robust dynamic positioning control method for a turret-moored vessel subject to unavailable model parameters, unknown disturbances and input saturation in ice regions. Firstly, based on the Discrete Element Method (DEM), an ice load model is established to simulate the ice loads exerted on FPSO vessels in broken ice environments. Then, the Gaussian error function is employed to approximate the input saturation nonlinearity. The unavailable model parameters, unknown disturbances, ice loads and input saturation approximation error are ingeniously transformed into a linear parametric form with only one parameter needed to be adjusted online. Further, we proposed a reliability-based robust anti-windup controller to achieve the arctic dynamic positioning of FPSO vessels, where a parametric adaptive method is designed to adjust the single unknown parameter online. Moreover, an event-triggered mechanism is integrated into the proposed controller to reduce the controller execution frequency and thruster wear, which can extend the service life of thrusters to some degree. Theoretical analysis proves that all signals in the closed-loop arctic dynamic positioning control system are globally uniformly ultimately bounded. Finally, the effectiveness of the proposed methods in arctic region dynamic positioning is validated through simulations.
冰载下炮塔系泊船北极动态定位的可靠性鲁棒事件触发反卷绕控制
针对冰区存在模型参数不可用、干扰未知和输入饱和的情况,提出了一种基于可靠性的炮塔系泊船舶鲁棒动态定位控制方法。首先,基于离散元法(DEM),建立冰载荷模型,模拟破冰环境下FPSO船舶所受冰载荷;然后,利用高斯误差函数逼近输入饱和非线性。将不可用的模型参数、未知扰动、冰荷载和输入饱和近似误差巧妙地转化为线性参数形式,只需在线调整一个参数。在此基础上,提出了一种基于可靠性的鲁棒抗卷绕控制器来实现FPSO船舶的北极动态定位,其中设计了一种参数自适应方法来在线调整单个未知参数。此外,在控制器中集成了事件触发机制,降低了控制器的执行频率和推进器的磨损,在一定程度上延长了推进器的使用寿命。理论分析证明了闭环北极动态定位控制系统中的所有信号都是全局一致最终有界的。最后,通过仿真验证了该方法在北极地区动态定位中的有效性。
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来源期刊
Ocean Engineering
Ocean Engineering 工程技术-工程:大洋
CiteScore
7.30
自引率
34.00%
发文量
2379
审稿时长
8.1 months
期刊介绍: Ocean Engineering provides a medium for the publication of original research and development work in the field of ocean engineering. Ocean Engineering seeks papers in the following topics.
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