“Design of automatic thruster assisted mooring systems for ships”

Authors: Jan P. Strand, Asgeir J. Sørensen and Thor I. Fossen,
Affiliation: NTNU, Department of Engineering Cybernetics and ABB
Reference: 1998, Vol 19, No 2, pp. 61-75.

Keywords: Position mooring, model-based control, hydrodynamics, marine systems

Abstract: This paper addresses the mathematical modelling and controller design of an automatic thruster assisted position mooring system. Such control systems are applied to anchored floating production offloading and storage vessels and semi-subs. The controller is designed using model based control with a LQG feedback controller in conjunction with a Kalman filter. The controller design is in addition to the environmental loads accounting for the mooring forces acting on the vessel. This is reflected in the model structure and in the inclusion of new functionality.

PDF PDF (2011 Kb)        DOI: 10.4173/mic.1998.2.1

DOI forward links to this article:
[1] Asgeir J. Sørensen and Jann Peter Strand (2000), doi:10.1016/S0967-0661(99)00155-0
[2] E. A. Tannuri, D. C. Donha and C. P. Pesce (2001), doi:10.1002/rnc.604
[3] Shaoji Fang and Mogens Blanke (2011), doi:10.2478/v10006-011-0035-9
[4] Shaoji Fang, Bernt J. Leira and Mogens Blanke (2013), doi:10.1016/j.strusafe.2012.10.008
[5] (2011), doi:10.1002/9781119994138.refs
[6] Asgeir J. Sørensen (2011), doi:10.1016/j.arcontrol.2011.03.008
[7] Yuanhui Wang, Chuntai Zou, Fuguang Ding, Xianghui Dou, Yanqin Ma and Yanwen Liu (2014), doi:10.1155/2014/302481
[8] Shaoji Fang, Mogens Blanke and Bernt J. Leira (2015), doi:10.1016/j.conengprac.2014.11.009
[9] Dong T. Nguyen and Asgeir J. Sørensen (2009), doi:10.1016/j.conengprac.2009.03.001
[10] Dat H. Nguyen, Dong T. Nguyen, Ser T. Quek and Asgeir J. Sørensen (2010), doi:10.1016/j.conengprac.2010.05.001
[11] Dat H. Nguyen, Dong T. Nguyen, Ser T. Quek and Asgeir J. Sørensen (2011), doi:10.1016/j.coldregions.2011.01.007
[12] Youngbok Kim (2013), doi:10.9726/kspse.2013.17.5.094
[13] Wei He, Xiuyu He and Shuzhi Sam Ge (2015), doi:10.1109/TMECH.2015.2431118
[14] Anh-Minh D. Tran, Jung-In Yun, Kwang-Hwan Choi, Chang-Hyo Son and Young-Bok Kim (2015), doi:10.1109/ICCAS.2015.7364721
[15] Sang-Won Ji, Myung-Soo Choi and Young-Bok Kim (2015), doi:10.1109/TMECH.2015.2407612
[16] Dong T. Nguyen, Mogens Blanke and Asgeir J. Sørensen (2007), doi:10.3182/20070919-3-HR-3904.00051
[17] Mogens Blanke, Shaoji Fang, Roberto Galeazzi and Bernt J. Leira (2012), doi:10.3182/20120829-3-MX-2028.00224
[18] Li Zhou, Torgeir Moan, Kaj Riska and Biao Su (2013), doi:10.1007/s00773-013-0220-7
[19] Lin-lin Wang, Wen-hua Wang, Ya-zhen Du, Hao Gao and Yi Huang (2016), doi:10.1007/s00773-016-0403-0
[20] Anh-Minh D. Tran, Suk-Ho Jung, Jung-In Yoon and Young-Bok Kim (2016), doi:10.1007/s12555-015-0046-7
[21] Anh Minh D. Tran and Young Bok Kim (2016), doi:10.7839/ksfc.2016.13.4.023
[22] (2017), doi:10.3390/en10050666
[23] Jann Peter Strand, Kenan Ezal, Thor I. Fossen and Petar V. Kokotovi (1998), doi:10.1016/S1474-6670(17)40420-4
[24] Xiaogong Lin, Heng Li, Kun Liang and Yuzhao Jiao (2017), doi:10.23919/ChiCC.2017.8027388
[25] Mogens Blanke and Dong T. Nguyen (2018), doi:10.1016/j.oceaneng.2017.11.042
[26] Vahid Hassani, António M. Pascoal and Asgeir J. Sørensen (2018), doi:10.1016/j.oceaneng.2018.01.021
[27] Jann Peter Strand and Thor I. Fossen (1999), doi:10.1007/BFb0109924
[28] Xiaomeng Zhu (2019), doi:10.1007/978-981-10-6963-5_144-1
[29] Asgeir J. Sørensen (2014), doi:10.1007/978-1-4471-5102-9_122-1
[30] Wei He, Shuzhi Sam Ge, Bernard Voon Ee How and Yoo Sang Choo (2014), doi:10.1007/978-1-4471-5337-5_6
[31] Anh-Minh D. Tran, Jung-In Yoon and Young-Bok Kim (2016), doi:10.1007/978-3-319-27247-4_34
[32] Shangyu Yu, Lei Wang, Bo Li and Huacheng He (2019), doi:10.1007/s00773-019-00678-5
[33] Huacheng He, Lei Wang, Xuefeng Wang, Bo Li and Shengwen Xu (2020), doi:10.1080/17445302.2020.1780683
[34] Roger Skjetne and Zhengru Ren (2020), doi:10.1016/j.marstruc.2020.102830
[35] (2021), doi:10.1002/9781119575016.ref
[36] Asgeir J. Sorensen (2021), doi:10.1007/978-3-030-44184-5_122
[37] Wen-hua Wang, Lin-lin Wang, Ya-zhen Du and Yi Huang (2022), doi:10.1016/j.oceaneng.2022.111095
[38] Xiaomeng Zhu (2022), doi:10.1007/978-981-10-6946-8_144
[39] Xiaoyue Zhang, Yuanhui Wang and Ahmed Chemori (2023), doi:10.1016/j.oceaneng.2022.113435
[1] AALBERS, A.B., JANSE, A.W. DE BOOM, W.C. (1995). DP assisted and Passive Mooring for FPSO´s, 27th Annual Offshore Technology Conference, ppr. 7722, pp. 281-288, Houston, Texas.
[2] FALTINSEN, O.M. (1990). Sea Loads on Ships and Offshore Structures, Cambridge University Press.
[3] FOSSEN, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley and Sons Ltd.
[4] HUSE, E. MATSUMOTO, K. (1989). Mooring Line Damping Due to First- and Second-Order Vessel Motion, 21st Annual Offshore Technology Conference, Procs. Vol. 4, ppr. 6137, pp. 135-148, Houston, Texas.
[5] MARINTEK (1995). MIMOSA User´s Documentation, Marintek report No. 519616.00.02, Trondheim, Norway.
[6] SÆLID, S., JENSSEN, N. A. BALCHEN, J. G. (1983). Design and Analysis of a Dynamic Positioning System Based on Kalman Filtering and Optimal Control, IEEE Trans. on Automatic Control, AC-28, pp. 331-339 doi:10.1109/TAC.1983.1103225
[7] SØRDALEN, O.J. (1996). Thruster Allocation: Singularities and Filtering, IFAC World Congress, Vol. Q, pp. 369-374, San Francisco, CA.
[8] SØRENSEN, A.J., SAGATUN, S.I. FOSSEN, T.I. (1996). Design of a Dynamic Positioning System using Model-Based Control, Journal of Control Engineering Practice, .3.
[9] SØRENSEN, A.J., ÅDNANES, A.K., FOSSEN, T.I. STRAND, J. P. (1997). A New Method of Thruster Control in Positioning of Ships Based on Power Control, Proc. 4th IFAC Conf. on Manoeuvring and Control of Marine Craft, pp. 172-179, Brijuni, Croatia.
[10] TRIANTAFYLLOU, M.S. (1994). Cable Mechanics for Moored Floating Systems, BOSS´94, pp. 67-77, Boston, MA.
[11] TRIANTAFYLLOU, M.S. YUE, D.K.P. (1994). Damping of Moored Floating Structures, 26th Annual Offshore Technology Conference, Procs. Vol. 3, ppr. 7489, pp. 215-224, Houston, Texas.

  title={{Design of automatic thruster assisted mooring systems for ships}},
  author={Strand, Jan P. and Sørensen, Asgeir J. and Fossen, Thor I.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}