Research on Modeling and Control of Thruster-Assisted Position Mooring System for Deepwater Turret-Moored FPSO

摘要：

　　It addresses dynamic positioning technology of deepwater FPSO moored to the seabed via a turret based spread mooring system,referred to as Position Mooring (PM).In normal weather conditions,the mooring system constrains the FPSO to the predefined region.In harsh weather,however,the mooring system behaves so limited to constrain the position that the thruster force is also needed in order to avoid the damage to the mooring lines.According to the kinematics and dynamics,the mathematical model of FPSO with the thruster assisted position mooring system is derived and established based on the idea of the Manoeuvring Model Group (MMG).Environmental disturbance model are established,in which the disturbance forces of the wind,wave and current are considered.The mathematical equation of turret-moored mooring system is established based on the catenary theory.The PM controller is designed by using integrator backstepping method.In moderate and extreme conditions,simulation tests have been conducted for the designed thruster assisted position mooring control system.The simulation results show that the dynamic tension of mooring line is effectively reduced due to the introduction of thruster assisted positioning mooring control measure.The positioning accuracy is improved obviously.

关键词： thruster assisted position mooring catenary theory turret-moored integrator backstepping

作者: WANG Yuan Hui DOU Xiang Hui ZOU Chun Tai TUO Yu Long LIU Yan Wen

作者单位: College of Automation,Harbin Engineering University,Harbin 150001,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 845-852

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）