Dynamic Positioning With Roll-Pitch Motion Control for a Semi-submersible

摘要

Dynamic positioning system is usually used to keep marineconstructions at a desired position for offshore engineering operations.Traditionally, DP system only deals with horizontal motions regardlessof vertical ones including roll and pitch. However, large roll and pitchmotions may be induced by thruster actions, which obviously should beavoided. A new control strategy considering roll-pitch motion control ispresented in this paper. The main idea in the new control strategy is toconsider roll-pitch velocity and acceleration feedback in the horizontalcontrol law in order to avoid large roll-pitch motions. The new controlstrategy can significantly suppress the roll and pitch motions. Inaddition its effects on horizontal motions are also discussed.