کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
1725279 | 1520684 | 2015 | 13 صفحه PDF | دانلود رایگان |
• Fault-tolerant control for the dynamic positioning of an offshore supply vessel.
• The fault detection is a combination of two model-based techniques.
• The dynamic positioning system is based on a bank of reconfigurable controllers.
• The wave compensation is based on a Multirate Extended Kalman Filter.
The paper presents a solution to guarantee a fault-tolerant robust control for the dynamic positioning of an over-actuated offshore supply vessel. Fault detection is obtained by a combination of two model-based techniques: the parity space approach and the Luenberger observer. The dynamic positioning system is provided by a bank of reconfigurable Discrete-Time Variable-Structure Controllers (DTVSC), selected by a supervisor, based on a fault isolation logic. The control system is combined with a wave compensation based on a Multi-rate Extended Kalman Filter (MREKF). The proposed solution is compared with a standard Proportional-Integral-Derivative (PID) control system and a passive nonlinear wave filter to assess its robustness to input disturbances and uncertainties in the model parameters. The simulation tests developed for a scale model of an offshore supply vessel show that, in the case of actuators faults, dynamic positioning is guaranteed by the proposed solution.
Journal: Ocean Engineering - Volume 106, 15 September 2015, Pages 472–484