TY  - GEN
AB  - This paper aims to present a novel approach to design a dynamic positioning system by using a dynamic model based-design approach. The proposed study has been performed to both develop and preliminarily test the control logic that should be implemented on a model scale vessel. Indeed, the proposed tool has been designed for a fully actuated tug vessel equipped with two azimuthal thrusters and one bow-thruster, emulated in behaviour with a dynamic simulator. Thanks to the model actuation, it was possible to design a unique, optimised allocation logic able to fulfil both open-loop and closed-loop commands, sufficiently proved and tuned before the installation onboard. Moreover, a thorough comparison between different design methods, static and dynamic performance evaluation has been carried out. Two different operational modes are tested, and the results are presented: joystick and station keeping.
AD  - Polytechnic School of Genoa University, Genova, Italy
AD  - Polytechnic School of Genoa University, Genova, Italy
AD  - Polytechnic School of Genoa University, Genova, Italy
AU  - Martelli, M
AU  - Faggioni, N
AU  - Donnarumma, S
DA  - 2020-10-05
ID  - 7754
JF  - Conference Proceedings of iSCSS
KW  - Dynamic Positioning
KW  - Control Optimisation
KW  - Model-based Analysis
KW  - Motion Control
L1  - https://library.imarest.org/record/7754/files/iSCSS_2020_Paper_3%20NB%20-%20different%20locations.pdf
L2  - https://library.imarest.org/record/7754/files/iSCSS_2020_Paper_3%20NB%20-%20different%20locations.pdf
L4  - https://library.imarest.org/record/7754/files/iSCSS_2020_Paper_3%20NB%20-%20different%20locations.pdf
LK  - https://library.imarest.org/record/7754/files/iSCSS_2020_Paper_3%20NB%20-%20different%20locations.pdf
N2  - This paper aims to present a novel approach to design a dynamic positioning system by using a dynamic model based-design approach. The proposed study has been performed to both develop and preliminarily test the control logic that should be implemented on a model scale vessel. Indeed, the proposed tool has been designed for a fully actuated tug vessel equipped with two azimuthal thrusters and one bow-thruster, emulated in behaviour with a dynamic simulator. Thanks to the model actuation, it was possible to design a unique, optimised allocation logic able to fulfil both open-loop and closed-loop commands, sufficiently proved and tuned before the installation onboard. Moreover, a thorough comparison between different design methods, static and dynamic performance evaluation has been carried out. Two different operational modes are tested, and the results are presented: joystick and station keeping.
PY  - 2020-10-05
T1  - A novel model based-design approach for a dynamic positioning system
TI  - A novel model based-design approach for a dynamic positioning system
UR  - https://library.imarest.org/record/7754/files/iSCSS_2020_Paper_3%20NB%20-%20different%20locations.pdf
VL  - iSCSS 2020
Y1  - 2020-10-05
ER  -