Dynamic Positioning Using Model Predictive Control With Short-Term Wave Prediction

被引：12

作者：

Overaas, Henning ^{[1
]}

Halvorsen, Hakon S. ^{[1
]}

Landstad, Olav ^{[1
]}

Smines, Vidar ^{[2
]}

Johansen, Tor Arne ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Ctr Autonomous Marine Operat & Syst, Dept Engn Cybernet, N-7034 Trondheim, Norway

[2] Kongsberg Maritime, N-3616 Alesund, Norway

来源：

IEEE JOURNAL OF OCEANIC ENGINEERING | 2023年 / 48卷 / 04期

关键词：

Index Terms-Dynamic positioning; hydrodynamic modeling; marine operations; model predictive control (MPC); wave prediction;

D O I：

10.1109/JOE.2023.3288969

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

Remotely operated vehicle (ROV) operations are today typically supported by large designated vessels. New emerging concepts aim to streamline ROV operations by utilizing unmanned surface vessels of a smaller size. Reduction in size may result in first-order wave induced motion being more significant. This motivates the use of dynamic positioning control using thrusters to actively compensate for first-order wave-driven horizontal-plane motion in order to maximize operability. This article proposes a controller for dynamic positioning based on model predictive control and short-term wave motion prediction intended to actively compensate for first-order waves. By considering the full dynamic sea environment, the controller is able to dampen out some of the oscillatory motion caused by first-order waves. The controller is able reduce the average deviation from the set-point with up to 65% for a variety of sea conditions. The maximum distance error to the reference point is reduced by up to 65% depending on sea state. The dynamics of the thrusters is a limiting factor when counteracting first-order waves and fast thrusters are therefore crucial in achieving best possible positioning. The cost of the wave-compensated positioning is a more dynamic consumption of power.

引用

页码：1065 / 1077

页数：13

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