Dynamic positioning of floating caissons based on the UKF filter under external perturbances induced by waves

OCEAN ENGINEERING

卷:235

Article

Revestido Herrero, Elias¹  Ramon Llata, Jose²  Gonzalez-Sarabia, Esther²  Velasco, Francisco J.¹  Joaquin Sainz, Jose²  Rodriguez-Luis, Alvaro³  Fernandez-Ruano, Sergio³  Guanche, Raul³ 

[1] Univ Cantabria ETS Naut, Dept Elect Technol Syst Engn & Automat Control, ETS Nautica, C Gamazo 1, Santander 39004, Cantabria, Spain

[2] Univ Cantabria, Dept Elect Technol Syst Engn & Automat Control, ETS Ingn Ind & Telecomunicac, Av Castros S-N, Santander 39005, Cantabria, Spain

[3] Univ Cantabria, Environm Hidraul Inst, IH Cantabria, C Isabel Torres 15, Santander 39011, Spain

关键词: Dynamic positioning;    UKF;    Classical controller;    Control allocation;   

DOI  :  10.1016/j.oceaneng.2021.109055

来源: Elsevier

【 摘 要 】

This paper presents a dynamic positioning control scheme for concrete caissons in an attempt to automate part of the manoeuvres which usually require a complex deploy of personnel and equipment for port infrastructures development. The aim of this paper is to propose a control scheme, which is able to provide a reduction in costs and an improvement in security for the dynamic positioning manoeuvres . To do so, a dual loop controller is developed and the unscented Kalman filter is applied for states and perturbances estimation. Furthermore, a control allocation algorithm is proposed based on anchoring lines and winches. Finally, some simulations are performed to verify the effectiveness of the proposed approach.

【 授权许可】

Free