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Abstract: (66 Views)
| Dynamic Positioning (DP) systems face control challenges due to the vessel's nonlinear dynamics and environmental disturbances (such as wind, current, and waves). These issues, coupled with the continuous operation and ready-state of thrusters, lead to a significant increase in energy consumption and operational costs in conventional systems. This paper aims to improve the performance of vessel DP systems by introducing a hierarchical and stable control algorithm that simultaneously ensures dynamic stability and positioning accuracy. In this architecture, the first phase (Path Following) operates at large distances from the target (exceeding 5 meters), utilizing a PD controller for rapid guidance and optimization of energy usage. Upon the vessel's approach to the target position, the second phase (Dynamic Positioning) is activated with a PID controller for precise position and heading stabilization. Three-degree-of-freedom (3-DOF) simulation results on the KVLCC2 model vessel demonstrate the proposed system's stable and robust performance across four different scenarios, achieving a maximum steady-state positioning error of 19 cm (10% of the vessel length). In scenarios without environmental disturbances, a smooth transient response and rapid convergence from (0, 0) to (20, 20) meters were observed. Furthermore, in the presence of severe environmental disturbances, the positioning performance of the proposed system, based on the RMSE (Root Mean Square Error) criterion, registered a value of 0.27 meters, showing an average improvement of 30% compared to a conventional PID controller. Additionally, the selective activation of the precise DP system in the second stage effectively contributes to reduced energy consumption and operational costs. |
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