DocumentCode :
3036131
Title :
Dynamic positioning of floating vessles based on Kalman filtering and optimal control
Author :
Balchen, J.G. ; Jenssen, N.A. ; Mathisen, E. ; Saelid, S.
Author_Institution :
Universtiy of Trondheim
fYear :
1980
fDate :
10-12 Dec. 1980
Firstpage :
852
Lastpage :
864
Abstract :
This paper describes computer-based, dynamic positioning system for floating vessels. The system is based on a detailed mathematical model of vessel motion in response to forces from thrusters, wind, waves and water current. The system uses a Kalman filter for optimal estimation of vessel motions and environmental forces from wind, waves and current. The control system is based on feedback from the motion variables where the oscillatory, wave-induced component is removed by the estimator. Feedback from the water current estimate provides the integral action of the system and feed forward from the wind force estimates are implemented. Simulation results and recordings from actual operation of the system indicate an excellent system performance. Reference is given to installations made on actual vessels.
Keywords :
Control systems; Feeds; Filtering; Force feedback; Kalman filters; Mathematical model; Motion control; Motion estimation; Optimal control; System performance;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control including the Symposium on Adaptive Processes, 1980 19th IEEE Conference on
Conference_Location :
Albuquerque, NM, USA
Type :
conf
DOI :
10.1109/CDC.1980.271924
Filename :
4046790
Link To Document :
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