000007754 001__ 7754
000007754 005__ 20241024114713.0
000007754 02470 $$2doi$$a10.24868/issn.2631-8741.2020.002
000007754 035__ $$a4269595
000007754 037__ $$aGENERAL
000007754 245__ $$aA novel model based-design approach for a dynamic positioning system
000007754 269__ $$a2020-10-05
000007754 336__ $$aConference Proceedings
000007754 520__ $$aThis 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.
000007754 542__ $$fCC-BY-NC-ND-4.0
000007754 6531_ $$aDynamic Positioning
000007754 6531_ $$aControl Optimisation
000007754 6531_ $$aModel-based Analysis
000007754 6531_ $$aMotion Control
000007754 7001_ $$aMartelli, M$$uPolytechnic School of Genoa University, Genova, Italy
000007754 7001_ $$aFaggioni, N$$uPolytechnic School of Genoa University, Genova, Italy
000007754 7001_ $$aDonnarumma, S$$uPolytechnic School of Genoa University, Genova, Italy
000007754 773__ $$tConference Proceedings of iSCSS
000007754 773__ $$jiSCSS 2020
000007754 789__ $$whttps://zenodo.org/record/4269595$$2URL$$eIsIdenticalTo
000007754 8564_ $$93b73cec0-0f7d-4ca6-8349-89fa32789cfc$$s2553556$$uhttps://library.imarest.org/record/7754/files/iSCSS_2020_Paper_3%20NB%20-%20different%20locations.pdf