Proceedings of the International Ship Control Systems Symposium (iSCSS)
Published October 5, 2020 | Version v1
Conference paper Open

A novel model based-design approach for a dynamic positioning system

Creators

  • 1. Polytechnic School of Genoa University, Genova, Italy

Description

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.

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References

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