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Multivariable PID tuning for dynamic ship positioning

Martin, P. and Katebi, M.R. (2005) Multivariable PID tuning for dynamic ship positioning. Proceedings- Institute of Marine Engineering Science and Technology Part a Journal of Marine Engineering and Technology, 7. pp. 11-24. ISSN 1476-1548

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Abstract

This paper introduces the ship dynamic positioning (DP) control problem, details a nonlinear multivariable simulation model for a floating production, storage and offloading (FPSO) vessel and proposes a new model-free linear method for rapid tuning of the DP multivariable PID controllers. Three existing model free tuning methods are compared for their performance and stability properties and a procedure is developed for rapid tuning of DP control systems. Controller structures are discussed and the methods are applied to the simulation model at an operating point, thereby justifying the use of linear tuning techniques. It is shown that some of the methods are appropriate and that it is straightforward to produce a controller of acceptable performance within the thruster input constraints of the ship. Simulation results are presented and analysed. The proposed methods are particularly useful for the cases where an adaptive DP control system is required to meet the desired performance.

Item type: Article
ID code: 3551
Keywords: velocity, tuning, vehicle dynamics, simulation model, multivariable system, dynamic positioning, shipbuilding, Hydraulic engineering. Ocean engineering, Electrical engineering. Electronics Nuclear engineering, Mechanical Engineering, Ocean Engineering, Electrical and Electronic Engineering, Fuel Technology
Subjects: Technology > Hydraulic engineering. Ocean engineering
Technology > Electrical engineering. Electronics Nuclear engineering
Department: Faculty of Engineering > Electronic and Electrical Engineering
Related URLs:
Depositing user: Strathprints Administrator
Date Deposited: 14 Jun 2007
Last modified: 04 Sep 2014 13:35
URI: http://strathprints.strath.ac.uk/id/eprint/3551

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