Predicting the capability-polar-plots for dynamic positioning systems for offshore platforms using artificial neural networks

As the capability of polar plots becomes better understood, improved dynamic positioning (DP) systems are possible as the control algorithms greatly depend on the accuracy of the aerodynamic and hydrodynamic models. The measurements and estimation of the environmental disturbances have an important role in the optimal design and selection of a DP system for offshore platforms. The main objective of this work is to present a new method of predicting the Capability-Polar-Plots for offshore platforms using the combination of the artificial neural networks (NNs) and the capability polar plots program (CPPP). The estimated results from a case study for a scientific drilling vessel are presented. A trained artificial NN is designed in this work and is able to predict the maximum wind speed at which the DP thrusters are able to maintain the offshore platform in a station-keeping mode in the field site. This prediction for the maximum wind speed will be a helpful tool for DP operators in managing station-keeping for offshore platforms in an emergency situation where the automation of the DP systems is disabled. It is obvious from the obtained results that the developed technique has potential for the estimation of the capability-polar-plots for offshore platforms. This tool would be suitable for DP operators to predict the maximum wind speed and direction in a very short period of time.     

Sea state estimation using vessel response in dynamic positioning

This paper presents a novel method for estimating the sea state parameters based on the heave, roll and pitch response of a vessel conducting station keeping automatically by a dynamic positioning (DP) system, i.e., without forward speed. The proposed algorithm finds the wave spectrum estimate from the response measurements by iteratively solving a set of linear equations, and it is computationally efficient. The main vessel parameters are required as input. Apart from this the method is signal-based, with no assumptions on the wave spectrum shape. Performance of the proposed algorithm is demonstrated on full-scale experimental DP data of a vessel in three different sea states at head, bow quartering, beam, stern quartering and following sea waves, respectively.     

Dynamic consequence analysis of marine electric power plant in dynamic positioning

Diesel-electric power and propulsion systems with electric thrusters are the industry standard for vessels with dynamic positioning (DP) systems. Diesel engines are paired with generators in generator sets and are used to produce electric power used by thrusters and main propellers during stationkeeping and transit, and other consumers such as hotel load, drilling drives, cranes, and heave compensators. Consequence analysis is used to verify the safety of a DP operation. It is used to check whether there is sufficient running power and thruster capacity available to retain sufficient thrust to maintain vessel position after a worst single failure. Recently, extensions of class rules enable standby generators to be considered in this analysis. This provides a more efficient configuration as relatively fewer generator sets may be running. However, DP performance is degraded during the transition from the fault occurrence until the plant is completely recovered. It is important to determine if this degradation leads to a loss of position during the transition. This study presents a simulation-based dynamic consequence analysis method that can be used to dynamically simulate fault scenarios such that the dynamics of the transient recovery can be analyzed. This analysis can be used for decision-support to configure marine electric power plants in DP. Results from the simulation study show that the currently used static consequence analysis method may provide non-conservative results under certain configurations.     

Adaptive fuzzy controller design for dynamic positioning system of vessels

This paper develops an adaptive fuzzy controller for the dynamic positioning (DP) system of vessels with unknown dynamic model parameters and unknown time-varying environmental disturbances. The controller is designed by combining the adaptive fuzzy system with the vectorial backstepping method. An adaptive fuzzy system is employed to approximate the uncertain term induced by unknown dynamic model parameters and unknown time-varying environmental disturbances. It is theoretically proved that the proposed adaptive fuzzy DP controller can make the vessel be maintained at the desired values of its position and heading with arbitrary accuracy, while guaranteeing the uniform ultimate boundedness of all signals in the closed-loop DP control system of vessels. Simulation studies with comparisons on a supply vessel are carried out, and the results illustrate the effectiveness of the proposed control scheme.     

The formation of offshore ripples in the zone under irregular waves

In this article, results obtained from an experimental investigation conducted to determine the wave-induced geometric characteristics of offshore ripples and bars are presented. The experiments were performed using irregular waves. Natural beach sand was used in the study, where the mean diameter was 0.35 mm and the specific gravity was 2.63. The initial slope of the beach was 1:5. Different wave groups were generated over the initially flat beach, and a number of characteristics were determined. These include the ripple number, individual and average ripple heights, individual and average ripple lengths and the length of the offshore bar. The results of the experimental study were evaluated and empirical expressions based on the results were formulated.     

移动式海上基地(MOB)连接器动力响应试验研究

移动式海上基地(Mobile Offishore Base，MOB)是由若干半潜模块相连而成的超大型浮式结构物。在进行海上作业时，模块间的连接器将会产生巨大的载荷。用缩尺比为1：100的三模块MOB模型在实验室进行了连接器动力响应试验研究。文中对试验的关键问题，如连接器模型的设计、制作、安装、试验工况的确定和测试方法等作了较详细的介绍。     

Fatigue reliability analysis in time domain for inspection strategy of fixed offshore structures

The paper describes a methodology for estimation of reliability of fixed offshore structures with respect to fatigue and extreme stress. The failure criteria for fatigue are formulated using fracture mechanics principle and that for extreme stress using API Code. Advanced Second Moment method is used to find the reliability index. The total life of the structure is divided into a set of stationary sea-states, occurring during storms and described by directional power spectrum. The method has been illustrated through application to a typical jacket platform. Usefulness of the methodology for planning in-service inspections has been highlighted.     

Design and implementation of a triple-redundant dynamic positioning control system for deepwater drilling rigs

Triple-redundant control architecture of the main control station is proposed for dynamic positioning (DP) system from a practical point of view according to the International Maritime Organization's (IMO) DP Class 3 notation. To improve the single fault tolerance, both operator station systems and real-time control computer systems are designed with triple modular redundancy. Hierarchical software layers of the triple-redundant control architecture are implemented based on the different real-time response requirements of the layers. Input and output voting are incorporated to the positioning task to detect and isolate faults in the sensors and in the control system. Hard-in-the-loop (HIL) testing system together with model-scale tests are conducted to verify the proposed triple-redundant control architecture. The feasibility and fault-tolerant capability of the triple-redundant hardware and software architecture both in HIL and model tests are demonstrated.     

动力定位系统发展状况及研究方法

动力定位系统（Dynamic Positioning System)是一种闭环的控制系统，其采用推力器来提供抵抗风、浪、流等作用在船上的环境力，从而使船尽可能地保持在海平面上要求的位置上，其定位成本不会随着水深增加而增加，并且操作也比较方便。本文对动力定位系统发展及各组成部分进行了介绍，以期对动力定位系统有个比较完整的认识。     

On the use of the capability polar plots program for dynamic positioning systems for marine vessels

As the capability of polar plots becomes better understood, improved dynamic positioning (DP) systems are possible since the control algorithms greatly depend on the accuracy of the aerodynamic and hydrodynamic models. The measurements and estimation of the environmental disturbances have an important role in the optimal design and selection of a DP system for a marine vessel. The main objective of this work is to present a new software program capable of estimating the environmental forces, thrusters capability calculations, and capability polar plots for marine vessels. A flowchart illustrating the logic and data flow of a developed software program, the Capability Polar Plot Program (CPPP), and the estimated results for two case studies for a scientific drilling vessel and a survey vessel are presented. It is obvious from the obtained results that the developed program has a future potential for the estimation of the Capability Polar Plots for marine vessels. Moreover, the developed software program would be considered as a marine tool for the thrusters' selection and their configuration for marine vessels and floating production units for the Oil and Gas industries.     

Investigation of the load-bearing capacity of suction caissons used for offshore wind turbines

This paper presents the results of three-dimensional finite element analyses of the suction bucket foundation used for offshore wind turbines. The behavior of the bucket and the response of soil supporting the bucket in dense and medium dense sandy soils subjected to static horizontal load are investigated. Field tests results and a centrifuge model test are used to validate the numerical model. Dimensionless horizontal load-displacement and overturning moment-rotation relationships are derived utilizing the Power law and Buckingham’s theorem. The results show good agreement between the numerical analysis results and the straight lines obtained from the Power law until a specific value of horizontal load and overturning moment. Regarding stress behavior of soil supporting the bucket, due to soil densification and bucket movement, maximum stresses are seen near the bucket tip at the right inside of the bucket. The major part of the applied load is transferred by the bucket skirt. Numerical analysis modeling results show that the bucket rotation and displacement are highly dependent on the bucket geometry and soil properties in addition to loading conditions. Normalized equations and figures for the ultimate horizontal load and overturning-moment capacities are presented and can be used for the preliminary design of the bucket foundations in sandy soils.     

半潜平台锚泊辅助动力定位时域模拟研究

随着海洋油气资源开发逐渐走向深海,浮式结构物的定位能力越来越受到人们的重视。锚的泊辅助动力定位系统是将锚泊定位和动力定位相结合的一种新型海上定位系统。它具有安全性高、定位能力强、消耗功率小的特点。本文以某深水半潜式钻井平台为例,通过建立锚泊辅助动力定位时域模拟程序,分析平台在工作海况下的定位精度和功率消耗,并与相应海况下的动力定位进行比较。分析结果表明,该时域模拟程序能较为准确的地反映实际平台的定位情况。与动力定位相比,锚泊辅助动力定位能够取得更好的定位精度和较小的功率消耗,是更理想的定位方式。     

Nonlinear coupled dynamic response of offshore Spar platforms under regular sea waves

Many innovative floating offshore structures have been proposed for cost effectiveness of oil and gas exploration and production in water depths exceeding one thousand meters in recent years. One such type of platform is the offshore floating Spar platform. The Spar platform is modelled as a rigid body with six degrees-of-freedom, connected to the sea floor by multi-component catenary mooring lines, which are attached to the Spar platform at the fairleads. The response dependent stiffness matrix consists of two parts (a) the hydrostatics provide restoring force in heave, roll and pitch, (b) the mooring lines provide the restoring force which are represented here by nonlinear horizontal springs. A unidirectional regular wave model is used for computing the incident wave kinematics by Airy’s wave theory and force by Morison’s equation. The response analysis is performed in time domain to solve the dynamic behavior of the moored Spar platform as an integrated system using the iterative incremental Newmark’s Beta approach. Numerical studies are conducted for sea state conditions with and without coupling of degrees-of-freedom.     

Coupled dynamic analysis of deep-sea mining support vessel with dynamic positioning

Deep-sea mining (DSM) is an advanced concept. A simulation method of coupled vessel/riser/body system in DSM combined with dynamic positioning (DP) is proposed. Based on the three-dimensional potential flow theory, lumped mass method, and Morison’s equations the dynamic models of the production support vessel, riser and slurry pump are established. A proportion integration differentiation (PID) controller with a nonlinear observer and a thrust allocation unit are used to simulate the DP system. Coupled time domain simulation is implemented with the vessel operated in two DP modes. Results of the vessel and pump motions, riser tension, and thruster forces are obtained. It shows that the pump will be lifted by the riser when the vessel is chasing the next set point. Riser tension is influenced by the wave frequency motions of the vessel in positioning mode and low-frequency motions in tracking mode. The proposed simulation scheme is practical to study the DSM operation.     

Involving the public in the impact assessment of offshore renewable energy facilities

Public participation in decision-making about development has many benefits especially in the coastal zone and in the near-shore marine environment. This research expands the discussion of public involvement in decisions about marine resource use by examining public participation in environmental impact assessment as relevant for offshore renewable energy facilities. A review of empirical and theoretical research supports the development of a framework for further analysis. The framework consists of five main features: (1) effective communication, (2) broad-based inclusion, (3) prioritization, (4) early three-way learning, and (5) alternatives analysis. The paper's concluding sections explore the relevance of such a framework and indicate possible applications.     

推力器失效形式对DP-2级动力定位系统最优作业方向影响

以3 000 m水深DP-2级动力定位半潜平台为算例,研究在风浪流同向作用下,平台在各个角度下所能抵抗的最大外界环境力,得到最优作业方向。在此角度下,着重分析当不同推力器失效时,对动力定位能力的影响。得到一般规律,并推广到一般平台。     

Feedback control system for blow-out preventer positioning

During the drilling of ultra-deep-water subsea petroleum wells, a blow-out preventer (BOP), a piece of safety equipment, must be assembled on the wellhead. The BOP is suspended using the drilling riser during the wellhead approach operation, and the riser's top end is connected to the floating platform rig. This article presents a feedback control system for the automatic approach of the BOP to the wellhead. Compared to state-of-the-art controls, ours does not require ancillary thrusters installed alongside the riser nor inclination sensors atop of the drilling riser. Additionally, our proposed control embeds a closed-loop dynamic positioning system, thus retaining the characteristics of the original control system and adding an extra closed-loop. This eases implementation of the BOP approach control to an existing platform. To calculate the optimal gains for the BOP controller, we assume a linear system for the riser, including only the pendulum-shape. The simulation is carried out using nonlinear models for both riser and floating platform. We assume an International Towing Tank Conference standard semi-submersible platform, coupled with a 3000-m free-hanging vertical riser for the time-domain simulation. The results show the BOP tracking to be a step-shaped input signal under current and wave loads. A discussion of the performance of feedback control under different environmental loads is also included.     

自适应LQR方法在载人潜水器动力定位中的应用研究

根据我国正在研制开发的某深海载人潜水器的特性及其对载人潜水器动力定位控制的要求,采用最优控制方法LQR与递推辨识系统参数相结合的方法———自适应LQR方法进行控制。仿真结果表明这种方法具有良好的控制效果。     

船舶机动定位技术及其实现方法

为改善动力定位船舶在高海情下的定位能力,研究了机动定位的控制方式,并设计了一种机动定位模糊控制系统。其特点是模仿人类的航海技巧,通过充分利用环境力,实现船舶的定位与机动。仿真结果表明,在高海情下,机动定位方式可以实现较高精度的定位控制,并且其辅推功率消耗较小。     

一种基于视觉的水下机器人动力定位方法

以7 000 m载人潜水器的工程需求为背景,以水下单目摄像机为视觉传感器,进行了水下机器人动力定位方法研究。该动力定位方法利用视觉系统测量得到水下机器人与被观察目标之间的三维位姿关系,通过路径规划、位置控制和姿态控制分解,逐步使机器人由初始位姿逼近期望位姿并最终定位于期望位姿,从而实现了机器人的4自由度动力定位。通过水池实验验证了提出的动力定位方法,并且机器人能够抵抗恒定水流干扰和人工位置扰动。同时,该动力定位方法还可以实现机器人对被观察目标的自动跟踪。