Title: Dynamic Positioning System
Author : Ibrahim Hisham Ibrahim El-Boreidy
Collection : M.Sc. Electric
Abstract:
This report reviews the concepts and the state-of-the-art for dynamic positioning of marine surface vessels, and shows their applicability for implementation.
It begins with an introduction illustrating the basic principles of the dynamic positioning, after that it discusses the functions and the interfaces of a practical DP system (K-Pos DP system related to Kongsberg Maritime AS.). Also, mathematical modeling has been shown.
Three variations of a feedback LQR station-keeping controller have been discussed; a simple LQR controller, a LQR controller with modeled actuator dynamics, and finally a LQR controller with actuator dynamics and integral action.
A feed-forward controller has been introduced in order to provide enhanced station-keeping performance, as well as bump-less transfer from station keeping to low-speed maneuvering.
A reference model has been used for smooth transfer in-between station-keeping reference points and as input for the feed-forward controller. A passive Luenberger DP observer has been applied in order to estimate the position and heading states, and to filter out highfrequency wave loads.
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