波浪中の浮体式海洋構造物の位置制御に関する研究

概要

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The paper is concerned with a dynamic position control for a semi-submersible platform model under irregular waves and current. An offshore platform is required to control a given position against external forces such as ocean current, wind, and waves. A dynamic positioning system using thrusters is generally employed to control a position. In such a control, it is impossible for thrusters to resist wave frequency motion because the linear exiting force is very strong. The specification of the controller is to maintain a given position and to change its position without offset using thrusters that do not respond to this force in the wave frequency range. The problem was formulated in a framework of H_∞ control, and a controller was designed using a linear mathematical model obtained from nonlinear motion equations of the platform. Model experiments were carried out in oblique incident waves and current and the controller worked successfully.
社団法人日本船舶海洋工学会の論文
1999-09-04