FPSO is widely used during the deep-sea oil and gas exploration operations, for which it is an effective way to keep their position by means of positioning mooring (PM) technology to ensure the long-term reliability of operations, even in extreme seas. Here, a kind of dynamic positioning (DP) controller in terms of structural reliability is presented for the single-point turret-moored FPSOs. Firstly, the mathematical model of the moored FPSO in terms of kinematics and dynamics is established. Secondly, the catenary method is applied to analyze the mooring line dynamics, and mathematical model of one single mooring line is set up based on the catenary equation. Thereafter, mathematical model for the whole turret mooring system is established. Thirdly, a structural reliability index is defined to evaluate the breaking strength of each mooring line. At the same time, control constraints are also considered to design a state feedback controller using the backstepping technique. Finally, a series of simulation tests are carried out for a certain turret-moored FPSO with eight mooring lines. It is shown in the simulation results that the moored FPSO can keep its position well in extreme seas. Besides, the FPSO mooring line tension is reduced effectively to ensure mooring lines safety to a large extent in harsh sea environment.
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