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Handling Unknown External Forces with Highly Responsive DP Controller

Ofstad, Christoffer Andreas
Master thesis
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URI
http://hdl.handle.net/11250/2400554
Date
2014
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  • Institutt for teknisk kybernetikk [2283]
Abstract
Rising marine activity in the arctic has introduced many ice related challenges for

Dynamically Positioned (DP) marine vessels. Current motion control systems for

DP vessels are not designed to handle ice-related disturbances, and will thus need

to be improved to be able to operate in these challenging conditions.

The main goals of this master thesis have been to evaluate opportunities for handling

large and sudden unknown external disturbances, and compare these with

existing solutions.

There will be presented a predictive feedforward controller to minimize the impact

of an external disturbance. There will also be presented a selective wave filter

with a notch frequency that is adapted by a wave-frequency tracker.

A modified highly responsive PID controller with nonlinear stiffness and damping

terms has been derived, and proven globally asymptotically stable using Lyapunov

based stability analysis. There will also be presented a Disturbance Rejection by

Acceleration Feedforward controller that utilizes acceleration feedback from inertial

measurements.

All of the proposed improvements have been implemented and tested in Matlab/

Simulink, while some of the methods have been implemented and tested hardware-in-

the-loop in a simulator provided by Marine Technologies. The proposed methods

were shown both theoretically and through simulations to yield improved stationkeeping

performances.
Publisher
NTNU

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