Dynamic positioning systems (DPS) comprise the utilization of active propulsion to maintain the position and heading of a vessel. Sensors are used to measure the actual position of the floating body, and a control algorithm is responsible for the calculation of forces to be applied to each propeller, in order to counteract all environmental forces, including wind, waves and current loads. The controller cannot directly compensate motions in the sea waves frequency range, since they would require an enormous power to be attenuated, possibly causing damage to the propeller system. A filtering algorithm is then used to separate high frequency components from the low frequency ones, which are indeed controlled. Usual commercial systems apply Kalman filtering technique to perform such task, which includes a full model of the system. Furthermore, an adaptive on-line estimation algorithm is also used to evaluate the wave peak frequency, since the model in Kalman Filter depends on such parameter. The controller itself is based on a simple proportional-derivative (PD) actions. This paper presents all the mathematical formulation of the Kalman Filter, adaptive algorithm and the controller used in commercial DPS and performs a critical analysis of those models. Some illustrative results of a dynamic positioned shuttle vessel are presented, considering the incidence of waves, current and winds.
Skip Nav Destination
ASME 2005 24th International Conference on Offshore Mechanics and Arctic Engineering
June 12–17, 2005
Halkidiki, Greece
Conference Sponsors:
- Ocean, Offshore and Arctic Engineering Division
ISBN:
0-7918-4195-2
PROCEEDINGS PAPER
Critical Analysis of Control and Filtering Algorithms Used in Real Dynamic Positioning Systems
Eduardo A. Tannuri,
Eduardo A. Tannuri
University of Sa˜o Paulo, Sa˜o Paulo, SP, Brazil
Search for other works by this author on:
Helio M. Morishita,
Helio M. Morishita
University of Sa˜o Paulo, Sa˜o Paulo, SP, Brazil
Search for other works by this author on:
Vinicius L. M. Veras,
Vinicius L. M. Veras
University of Sa˜o Paulo, Sa˜o Paulo, SP, Brazil
Search for other works by this author on:
Glenan A. Lago
Glenan A. Lago
University of Sa˜o Paulo, Sa˜o Paulo, SP, Brazil
Search for other works by this author on:
Eduardo A. Tannuri
University of Sa˜o Paulo, Sa˜o Paulo, SP, Brazil
Helio M. Morishita
University of Sa˜o Paulo, Sa˜o Paulo, SP, Brazil
Vinicius L. M. Veras
University of Sa˜o Paulo, Sa˜o Paulo, SP, Brazil
Glenan A. Lago
University of Sa˜o Paulo, Sa˜o Paulo, SP, Brazil
Paper No:
OMAE2005-67137, pp. 337-347; 11 pages
Published Online:
November 11, 2008
Citation
Tannuri, EA, Morishita, HM, Veras, VLM, & Lago, GA. "Critical Analysis of Control and Filtering Algorithms Used in Real Dynamic Positioning Systems." Proceedings of the ASME 2005 24th International Conference on Offshore Mechanics and Arctic Engineering. 24th International Conference on Offshore Mechanics and Arctic Engineering: Volume 1, Parts A and B. Halkidiki, Greece. June 12–17, 2005. pp. 337-347. ASME. https://doi.org/10.1115/OMAE2005-67137
Download citation file:
7
Views
Related Proceedings Papers
Related Articles
Adaptive Control Strategy for the Dynamic Positioning of a Shuttle Tanker During Offloading Operations
J. Offshore Mech. Arct. Eng (August,2006)
Simplified Federated Filtering Algorithm With Different States in Local Filters
J. Dyn. Sys., Meas., Control (January,2011)
Filtering of Linear Systems With Unknown Inputs
J. Dyn. Sys., Meas., Control (September,2003)
Related Chapters
Real-Time Prediction Using Kernel Methods and Data Assimilation
Intelligent Engineering Systems through Artificial Neural Networks
Machine Learning Methods for Data Assimilation
Intelligent Engineering Systems through Artificial Neural Networks, Volume 20
Dynamic Positioning of Ships Using Direct Model Reference Adaptive Control
Intelligent Engineering Systems through Artificial Neural Networks Volume 18