Cooperative control applied to dynamic positioning systems

• Grant number: 10/15348-4
• Support Opportunities: Regular Research Grants
• Start date: November 01, 2010
• End date: April 30, 2013
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Eduardo Aoun Tannuri
• Grantee: Eduardo Aoun Tannuri
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil
• Associated researchers: Anderson Takehiro Oshiro ; André Luís Condino Fujarra ; Helio Mitio Morishita

Abstract

This project aims to apply the techniques of cooperative control to a system of two or more Dynamic Positioned (DP) vessels. Both topics (cooperative control and DP Systems) are individually well developed in scientific terms, but the combination of the two is still poorly studied. In addition, there are several applications for this development regarding offshore operations such as subsea installation involving multiple tugboats and supply vessels. The task (or restriction) of the cooperative control will be kinematic functions (position between the vessels) and dynamic functions (traction in the cables) and will be designed by sliding mode control. The dynamic constraints are difficult to be modeled, and it is appropriate to be used a robust and nonlinear controller. An Extended Kalman Filter will also be developed, and will be a state estimator in order to compensate the effects of communication failure between the ships. As an example for application of the methodology, it will be considered the case of two vessels launching a manifold on the seabed. The simulator Numerical Offshore Tank (TPN) will be used for numerical validation of the proposed controller and for comparisons between the system with and without cooperative control. Small scale DP vessels will be built and tests in the wave tank will be carried out. (AU)

Scientific publications

(5)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

MIYAZAKI, MICHEL R.; TANNURI, EDUARDO A.. A General Approach for Dynamic Positioning Weathervane Control. MARINE TECHNOLOGY SOCIETY JOURNAL, v. 47, n. 2, p. 31-42, MAR-APR 2013. (10/15348-4)

LAVIERI, RODRIGO SAURI; TANNURI, EDUARDO AOUN; FUJARRA, ANDRE L. C.; CORREA, DIEGO CASCELLI; ASME. AIDED INERTIAL MEASUREMENT SYSTEM APPLIED TO TORPEDO PILE TRAJECTORY RECONSTRUCTION. OMAE2011: PROCEEDINGS OF THE ASME 30TH INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE AND ARCTIC ENGINEERING, VOL 1, v. N/A, p. 3-pg., 2011-01-01. (10/15348-4)

RAMPAZZO, FABIANO P.; SILVA, JOAO LUIS B.; VIEIRA, DANIEL P.; PACIFICO, ANTONIO L.; MORATELLI JUNIOR, LAZARO; TANNURI, EDUARDO A.; ASME. NUMERICAL & EXPERIMENTAL TOOLS FOR OFFSHORE DP OPERATIONS. OMAE2011: PROCEEDINGS OF THE ASME 30TH INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE AND ARCTIC ENGINEERING, VOL 1, v. N/A, p. 2-pg., 2011-01-01. (10/15348-4)

VIEIRA, DANIEL P.; MALTA, EDGARD B.; RAMPAZZO, FABIANO P.; SILVA, JOAO LUIS B.; TANNURI, EDUARDO A.; ASME. EFFECTS OF COUPLED HYDRODYNAMIC IN THE PERFORMANCE OF A DP BARGE OPERATING CLOSE TO A FPSO. OMAE2011: PROCEEDINGS OF THE ASME 30TH INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE AND ARCTIC ENGINEERING, VOL 1, v. N/A, p. 3-pg., 2011-01-01. (10/15348-4)

RATEIRO, FELIPE; FUCATU, CARLOS H.; NEVES, CASSIANO R.; DOS SANTOS, MELQUISEDEC F.; TANNURI, EDUARDO A.; ASME. NUMERICAL ANALYSIS OF A NOVEL METHOD FOR SUBSEA EQUIPMENT INSTALLATION. OMAE2011: PROCEEDINGS OF THE ASME 30TH INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE AND ARCTIC ENGINEERING, VOL 1, v. N/A, p. 2-pg., 2011-01-01. (10/15348-4)