**Page description appears here**

“Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice”

Authors: Øyvind Kåre Kjerstad and Roger Skjetne,
Affiliation: NTNU, Department of Marine Technology
Reference: 2014, Vol 35, No 4, pp. 249-262.

     Valid XHTML 1.0 Strict


Keywords: Dynamic positioning, Numerical simulation, Control design, Nonlinear systems

Abstract: This paper presents a development framework for dynamic positioning control systems for marine vessels in managed ice. Due to the complexity of the vessel-ice and ice-ice interactions a configurable high fidelity numerical model simulating the vessel, the ice floes, the water, and the boundaries is applied. The numerical model is validated using experimental data and coupled with a control application incorporating sensor models, control systems, actuator models, and other external dynamics to form a closed loop development platform. The ice drift reversal is simulated by moving the positioning reference frame in an elliptic trajectory, rather than moving each individual ice floe. A control plant model is argued, and a control system for managed ice is proposed based on conventional open water design methods. A case study shows that dynamic positioning in managed ice is feasible for some moderate ice conditions.

PDF PDF (5888 Kb)        DOI: 10.4173/mic.2014.4.3



DOI forward links to this article:
  [1] Ivan Metrikin (2014), doi:10.4173/mic.2014.4.2
  [2] Roger Skjetne, Lars Imsland and Sveinung Løset (2014), doi:10.4173/mic.2014.4.1
  [3] Oivind Kare Kjerstad and Roger Skjetne (2016), doi:10.1109/ACCESS.2016.2553719
  [4] Edoardo I. Sarda, Huajin Qu, Ivan R. Bertaska and Karl D. von Ellenrieder (2016), doi:10.1016/j.oceaneng.2016.09.037


References:
[1] Brostrom, G. and Christensen, K. (2008). Waves in sea ice, Technical report, Norwegian Meteorological Institute, Norway.
[2] Eik, K.J. (2010). Ice Management in Arctic Offshore Operations and Field Developments, Ph.D. thesis, NTNU, Norway.
[3] Fossen, T.I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control, Wiley. doi:10.1002/9781119994138
[4] Gurtner, A., Baardson, B. H.H., Kaasa, G.-O., and Lundin, E. (2012). Aspects of importance related to Arctic DP operations, In Proc. 31th Int. Conf. on Ocean, Offshore and Arctic Engineering (OMAE). 2012. doi:10.1115/OMAE2012-84226
[5] Haase, A. and Jochmann, P. (2013). Different ways of modeling ice drift scenarios in basin tests, In Proc. 32th Int. Conf. on Ocean, Offshore and Arctic Engineering (OMAE). 2013. doi:10.1115/OMAE2013-10793
[6] Hals, T. and Efraimsson, F. (2011). DP Ice Model Test of Arctic Drillship, In Proc. of the Dynamic Positioning Conference. 2011.
[7] Hals, T. and Jenssen, N.A. (2012). DP ice model tests of Arctic drillship and polar research vessel, In Proc. 31th Int. Conf. on Ocean, Offshore and Arctic Engineering. 2012. doi:10.1115/OMAE2012-83352
[8] Hamilton, J.M. (2011). The Challenges of Deep-Water Arctic Development, Int. Journal of Offshore and Polar Engineering. 21(4):241--247.
[9] International MaritimeOrganization (IMO). (0). Guidelines for Vessels with Dynamic Positioning Systems, 1994. MSC/circ.645.
[10] Jenssen, N.A., Hals, T., Haase, A., Santo, X., Kerkeni, S., Doucy, O., Gurtner, A., Hetschel, S.S., Moslet, P.O., Metrikin, I., and Loset, S. (2012). A Multi-National R&D Project on DP Technology in Ice, In Proc. of the Dynamic Positioning Conference. 2012.
[11] Jenssen, N.A., Muddesitti, S., Phillips, D., and Backstrom, K. (2009). DP In Ice Conditions, In Proc. of the Dynamic Positioning Conference. 2009.
[12] Keinonen, A. and Martin, E.H. (2012). Modern day pioneering and its safety in the floating ice offshore, In Proc. 10th Int. Conf. and Exhibition on Performance of Ships and Structures in Ice (ICETECH), volume1. 2012.
[13] Keinonen, A., Shirley, M., Liljestrom, G., and Pilkington, R. (2006). Transit and Stationary Coring Operations in the Central Polar Pack, In Proc. 7th Int. Conf. and Exhibition on Performance of Ships and Structures in Ice (ICETECH). 2006.
[14] Keinonen, A., Wells, H., Dunderdale, P., Pilkington, R., Miller, G., and Brovin, A. (2000). Dynamic positioning operation in ice, offshore Sakhalin, May--June 1999, In Proc. of the 10th Int. Offshore and Polar Engineering Conf. (ISOPE). 2000.
[15] Kerkeni, S., Dal Santo, X., and Metrikin, I. (2013). Dynamic Positioning in Ice - Comparison of Control Laws in Open Water and Ice, In Proc. 32th Int. Conf. on Ocean, Offshore and Arctic Engineering (OMAE). 2013. doi:10.1115/OMAE2013-10918
[16] Kerkeni, S., dal Santo, X., Doucy, O., Jochmann, P., Haase, A., Metrikin, I., Loset, S., Jenssen, N.A., Hals, T., Gurtner, A., Moslet, P.O., and Stole Hetschel, S. (2014). DYPIC project: Technological and scientific progress opening new perspectives, In Proc. of the Arctic Technology Conference (ATC). 2014.
[17] Kjerstad, O., Metrikin, I., Loset, S., and Skjetne, R. (2014). Experimental and phenomenological investigation of dynamic positioning in managed ice, Cold Regions Science and Technology.
[18] Liferov, P. (2014). Station-keeping in ice - normative requirements and informative solutions, In Proc. Arctic Technology Conference (ATC). 2014.
[19] Lubbad, R. and Loset, S. (2011). A numerical model for real-time simulation of ship-ice interaction, Cold Regions Science and Technology. 65(2):111 -- 127.
[20] Metrikin, I. (2014). A Software Framework for Simulating Stationkeeping of a Vessel in Discontinuous Ice, Modeling, Identification and Control. 35(4):211--246. doi:10.4173/mic.2014.4.2
[21] Metrikin, I., Borzov, A., Lubbad, R., and Loset, S. (2012). Numerical Simulation of a Floater in a Broken-Ice Field - Part II: Comparative Study of Physics Engines, In Proc. 31th Int. Conf. on Ocean, Offshore and Arctic Engineering (OMAE). 2012. doi:10.1115/OMAE2012-83430
[22] Metrikin, I., Loset, S., Jenssen, N.A., and Kerkeni, S. (2013). Numerical Simulation of Dynamic Positioning in Ice, Marine Technology Society Journal. 47(2):14--30. doi:10.4031/MTSJ.47.2.2
[23] Metrikin, I., Lu, W., Loset, S., and Kashafutdinov, M. (2012). Numerical Simulation of a Floater in a Broken-Ice Field - Part I: Model Description, In Proc. 31th Int. Conf. on Ocean, Offshore and Arctic Engineering (OMAE). 2012. doi:10.1115/OMAE2012-83938
[24] Moran, K., Backman, J., and Farrell, J.W. (2006). Deepwater drilling in the Arctic Ocean's permanent sea ice, In Proc. of the Integrated Ocean Drilling Program (IODP). 2006.
[25] Osthus, V. (2014). Robust Adaptive Control of a Surface Vessel in Managed Ice Using Hybrid Position and Force Control, Master's thesis, NTNU, Norway.
[26] Rohlen, Aa. (2009). Relationship Between Ice-Management and Station Keeping in Ice, Presentation at Dynamics Positioning Conference.
[27] Skjetne, R. and Kjerstad, O. (2013). Recursive nullspace-based control allocation with strict prioritization for marine craft, In Proc. of 9th IFAC Conf. on Control Applications in Marine Systems. 2013. doi:10.3182/20130918-4-JP-3022.00052
[28] Sorensen, A.J. (2012). Marine Control Systems: Propulsion and Motion Control of Ships and Ocean Structures, Department of Marine Technology, NTNU, Norway.
[29] Sorensen, A.J., Sagatun, S.I., and Fossen, T.I. (1996). Design of a dynamic positioning system using model-based control, Control Engineering Practice. 4(3):359 -- 368. doi:10.1016/0967-0661(96)00013-5
[30] The Society of Naval Architects Marine Engineers. (1950). Nomenclature for treating the motion of a submerged body through a fluid, Technical report. Technical and Research Bulletin, 1-5.
[31] Woolgar, R.C. and Colbourne, D.B. (2010). Effects of hull-ice friction coefficient on predictions of pack ice forces for moored offshore vessels, Ocean Engineering. 37:296 -- 303. doi:10.1016/j.oceaneng.2009.10.003


BibTeX:
@article{MIC-2014-4-3,
  title={{Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice}},
  author={Kjerstad, Øyvind Kåre and Skjetne, Roger},
  journal={Modeling, Identification and Control},
  volume={35},
  number={4},
  pages={249--262},
  year={2014},
  doi={10.4173/mic.2014.4.3},
  publisher={Norwegian Society of Automatic Control}
};

News

May 2016: MIC reaches 2000 DOI Forward Links. The first 1000 took 34 years, the next 1000 took 2.5 years.


July 2015: MIC's new impact factor is now 0.778. The number of papers published in 2014 was 21 compared to 15 in 2013, which partially explains the small decrease in impact factor.


Aug 2014: For the 3rd year in a row MIC's impact factor increases. It is now 0.826.


Dec 2013: New database-driven web-design enabling extended statistics. Article number 500 is published and MIC reaches 1000 DOI Forward Links.


Jan 2012: Follow MIC on your smartphone by using the RSS feed.

Smartphone


July 2011: MIC passes 1000 ISI Web of Science citations.


Mar 2010: MIC is now indexed by DOAJ and has received the Sparc Seal seal for open access journals.


Dec 2009: A MIC group is created at LinkedIn and Twitter.


Oct 2009: MIC is now fully updated in ISI Web of Knowledge.