Coordinated Dynamic Positioning of a Multi-Platform Mobile Offshore Base Using Nonlinear Model Predictive Control
作者： Jayesh Amin , Raman K. Mehra , Pablo Arambel
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摘要: This paper reports design, development and evaluation of a Nonlinear Model Predictive Controller (NMPC) for the coordinated dynamic positioning Mobile Offshore Base (MOB). The controller uses combined approach feedback linearlzation MPC. Simulation tests were performed with platform models provided by Naval Facilities Engineering Service Center (NFESC)/Bechtel extended to alternative generic model developed at University California Berkeley (UCB). environment was setup using SHIFT hybrid system simulation language semi-submersible parameters, disturbance models/loads various operational envelopes (sea states). It is shown that NMPC able maintain desired heading position runway more importantly maintains relative (inter module) orientation within tolerances in presence nonlinear coupled dynamics, environmental disturbances like wind, waves current, actuator (thruster) dynamics saturation constraints.
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