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Optimal control of the heave motion of marine cable subsea-unit systems

Huang, S. and Vassalos, D. (1995) Optimal control of the heave motion of marine cable subsea-unit systems. In: The Proceedings of the Fifth (1995) International Offshore and Polar Engineering Conference. International Society of Offshore and Polar Engineers, pp. 203-208. ISBN 978-1-880653-16-6


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One of the key problems associated with subsea operations involving tethered subsea units is the motions of support vessels on the ocean surface which can be transmitted to the subsea unit through the cable and increase the tension. In this paper, a theoretical approach for heave compensation is developed. After proper modelling of each element of the system, which includes the cable/subsea-unit, the onboard winch, control theory is applied to design an optimal control law. Numerical simulations are carried out, and it is found that the proposed active control scheme appears to be a promising solution to the problem of heave compensation.