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Doctoral Thesis
DOI
https://doi.org/10.11606/T.3.2002.tde-04082003-173204
Document
Author
Full name
Eduardo Aoun Tannuri
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2002
Supervisor
Committee
Pesce, Celso Pupo (President)
Cruz, Jose Jaime da
Fernandes, Antonio Carlos
Masetti, Isaias Quaresma
Morishita, Helio Mitio
Title in Portuguese
Desenvolvimento de metodologia de projeto de sistema de posicionamento dinâmico aplicado a operações em alto-mar.
Keywords in Portuguese
controle
controle não linear
modos deslizantes
offshore
sistema de posicionamento dinâmico
Abstract in Portuguese
O presente trabalho aborda três tópicos de pesquisa e desenvolvimento em Sistemas de Posicionamento Dinâmico (SPD). Desenvolveu-se uma nova metodologia para o projeto de controlador de posição e aproamento baseada na teoria de controle robusto não-linear por modos deslizantes. O controlador integra uma malha de compensação direta dos esforços ambientais (ondas, vento e correnteza) a uma malha de realimentação que realiza correções de erros residuais. A estrutura não-linear do controlador assegura o desempenho e estabilidade para qualquer aproamento da embarcação. A malha de compensação direta, por sua vez, garante maior faixa de aplicabilidade em termos de condições ambientais, não apresentando degradação de desempenho em condições extremas. A malha de realimentação possui apenas nove parâmetros, existindo equações e regras que tornam suas calibrações simples. Já a malha de compensação direta possui, internamente, modelos para a estimativa das forças ambientais que agem sobre o navio. Graças às características de robustez, o controlador não requer um ajuste refinado dos diversos parâmetros destes modelos e das condições ambientais, podendo-se utilizar estimativas pouco acuradas dos mesmos. O controlador desenvolvido foi testado em simuladores computacionais do VLCC Vidal de Negreiros amarrado pelo sistema turret e de uma barcaça de lançamento de dutos, ambos contendo modelos validados dos esforços ambientais. As simulações emularam erros de modelagem e de estimação das condições ambientais, e confirmaram as boas características de robustez e desempenho do controlador em diversas condições e a facilidade no ajuste de parâmetros. Desenvolveu-se também um modo de controle apropriado para operações com liberdade de aproamento realizadas na Bacia de Campos, onde é comum a incidência de agentes ambientais em direções não alinhadas. Neste modo calcula-se, baseado nas estimativas das condições ambientais, o aproamento que minimiza um funcional relacionando parâmetros operacionais relevantes, como movimento de roll, tração dinâmica em risers, solicitação do sistema de amarração e consumo de combustível. Uma análise numérica de sensibilidade, aplicada ao VLCC Vidal de Negreiros, indicou que o cálculo do aproamento ótimo não apresenta elevada sensibilidade a erros nas estimativas das condições ambientais em condições extremas. Testes numéricos comprovaram também a superioridade do presente modo de controle comparado ao tradicional modo Weather vane nas condições da Bacia de Campos. Como a estimação do espectro de ondas incidentes ainda apresenta problemas técnicos e operacionais, desenvolveu-se também um método de estimação do espectro baseado na medição dos movimentos da embarcação. Utilizou-se uma abordagem paramétrica, cuja sensibilidade a erros no conhecimento da resposta dinâmica da embarcação mostrou-se aceitável. O método foi testado numericamente e validado com resultados de ensaios em tanque de provas. Os erros de estimação foram plenamente compatíveis aos erros admissíveis pelo controlador desenvolvido, alcançando, no caso da altura significativa, o valor máximo de 25%. O método foi comparado à abordagem não paramétrica Bayesiana, muito utilizada em trabalhos correlatos, e apresentou resultados mais acurados.
Title in English
Development of a new methodology for offshore dynamic positioning system design.
Keywords in English
control
dynamic positioning system
nonlinear control
offshore
sliding mode control
Abstract in English
The present work deals with three research and development topics related to Dynamic Positioning Systems. A new design methodology of ship position and heading controller was developed, based on the robust and nonlinear Sliding Mode Control theory. The controller contains a feedforward action, which compensates environmental forces (wind, waves and current) and a feedback loop, responsible for the elimination of residual errors. The nonlinear formulation of the controller assures performance and stability requirements for all heading angles. The feedforward action guarantees its applicability in a large range of environmental conditions, without performance degradation in severe conditions. The feedback loop contains only nine parameters, which can be calibrated easily by simple equations. The feedforward loop internally contains models for the estimation of the environmental forces acting on the ship. However, due to robustness properties, the controller does not require a fine adjustment of its several parameters and the environmental conditions, allowing the use of non-accurate estimates. The controller was tested in computational simulators of the turret moored VLCC Vidal de Negreiros and of a pipe-laying barge, both comprising validated models of environmental forces. The simulations emulated modeling and environmental conditions estimation errors, confirming the good robustness and performance properties of the controller in several environmental conditions and the simple parameter adjusting process. A control mode adapted for heading-free operations in Campos Basin was also developed, where non-aligned environmental agents frequently happen. In this mode, it is calculated the optimal heading that minimizes a functional relating important operational parameters, such as roll motion, risers dynamic tension, mooring system forces and energy consumption. Estimations of environmental conditions are used in the calculation. However, a numerical sensibility analysis of this control mode applied to the VLCC Vidal de Negreiros indicated that the optimal heading calculation presents low sensibility to errors in these estimations under severe environmental conditions. Numerical trials showed that this control mode is more adequate to Campos Basin conditions compared to the traditional Weather vane mode. Since wave spectrum estimation still presents technical and operational problems, a spectrum estimation method was also developed, based on measurements of ship motions. A parametric method was used, which presented low sensitivity to errors in ship dynamic response functions. The method was numerically tested and validated through towing tank tests. Estimation errors were compatible to the controller admissible errors. For example, the maximum error in significant wave height estimation was 25%, smaller than the errors usually obtained using the non-parametric Bayesian method, widely applied for this class of problems.
 
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Publishing Date
2003-08-13
 
WARNING: The material described below relates to works resulting from this thesis or dissertation. The contents of these works are the author's responsibility.
  • Tannuri, E. A., Donha, D. C., and PESCE, C. P. Dynamic positioning of a turret moored FPSO using sliding mode control [doi:10.1002/rnc.604]. International Journal of Robust and Nonlinear Control [online], 2001, vol. 11, nº 13, p. 1239-1256.
  • TANNURI, E. A., DONHA, D. C., and PESCE, C. P.. Dynamic positioning of a turret moored FPSO using sliding mode control [doi:10.1002/rnc.604]. International Journal of Robust and Nonlinear Control [online], 2001, vol. 11, n. 13, p. 1239-1256.
  • Tannuri, Eduardo A., Kubota, Leonardo K., and Pesce, Celso P. Adaptive Control Strategy for the Dynamic Positioning of a Shuttle Tanker During Offloading Operations [doi:10.1115/1.2199559]. Journal of Offshore Mechanics and Arctic Engineering [online], 2006, vol. 128, nº 3, p. 203.
  • TANNURI, Eduardo A., KUBOTA, Leonardo K., and PESCE, Celso P. Adaptive techniques applied to offshore dynamic positioning systems [doi:10.1590/S1678-58782006000300010]. Journal of the Brazilian Society of Mechanical Sciences and Engineering [online], 2006, vol. 28, n. 3, p. 323-330.
  • Tannuri, Eduardo A., Kubota, Leonardo K., and Pesce, Celso P. Adaptive techniques applied to offshore dynamic positioning systems [doi:10.1590/S1678-58782006000300010]. Journal of the Brazilian Society of Mechanical Sciences and Engineering [online], 2006, vol. 28, nº 03, p. 323-330.
  • TANNURI, Eduardo A., KUBOTA, Leonardo K., and PESCE, Celso P.. Adaptive Control Strategy for the Dynamic Positioning of a Shuttle Tanker During Offloading Operations [doi:10.1115/1.2199559]. Journal of Offshore Mechanics and Arctic Engineering [online], 2006, vol. 128, n. 3, p. 203.
  • SIMOS, Alexandre Nicolaos, et al. A Quasi-explicit Hydrodynamic Model for the Dynamic Analysis of a Moored FPSO Under Current Action. Journal of Ship Research, 2001, vol. 45, nº 4, p. 289-301.
  • TANNURI, Eduardo Aoun, et al. Dynamic analysis of a DP-FPSO: offloading with DP and non-DP shuttle tankers in the Gulf of Mexico. Marine Systems & Ocean Technology, 2008, vol. 4, p. 15-27.
  • TANNURI, Eduardo Aoun, PESCE, C. P., e DONHA, Décio C. Modo de Operação de Busca de Aproamento Ótimo Aplicado a Sistemas de Posicionamento Dinâmico. Boletim Técnico da Escola Politécnica da USP. BT/PMI, 2002, vol. BT, nº PME.
  • SIMOS, Alexandre Nicolaos, et al. Validation of a Quasi-Explicit Hydrodynamic Model for the Analysis of Moored FPSO Systems. In OMAE 2001, Rio de Janeiro, 2001. Proceedings of the 20th Offshore Mechanics and Arctic Engineering Conference.Rio de Janeiro, RJ, 2001.
  • KUBOTA, Leonardo Kenji, TANNURI, Eduardo Aoun, and PESCE, C. P. Adaptive Techniques Applied to Offshore Dynamic Positioning Systems. In XI DINAME International Symposium on Dynamic Problems of Mechanics, Ouro Preto, MG, 2005. XI DINAME International Symposium on Dynamic Problems of Mechanics.RJ : ABCM, 2005.
  • LEITE, A. J. P., et al. FPSO-Turret System Stability And Wave Heading. In ISOPE'99, Brest, 1999. 9th Internacional Offshore and Polar Engineering Conference. : ISOPE, 1999.
  • SIMOS, Alexandre Nicolaos, TANNURI, Eduardo Aoun, and PESCE, C. P. Dynamics of A Turret-Fpso System And Hydrodynamic Models. In 17th Int. Conference on Offshore Mechanics and Arctic engineering, July, 5-9, 1998, Lisboa, 1998. Proceedings - CDROM - OMAE98-0410.N.Y. : ASME, 1998.
  • Tannuri, Eduardo A., Kubota, Leonardo K., and Pesce, Celso P. An Adaptive, Robust, Model-Referenced Control Strategy for the Dynamic Positioning of a Shuttle Tanker During Offloading Operations [doi:10.1115/omae2005-67131]. In ASME 2005 24th International Conference on Offshore Mechanics and Arctic Engineering, Halkidiki. 24th International Conference on Offshore Mechanics and Arctic Engineering: Volume 1, Parts A and B., 2005.
  • TANNURI, Eduardo Aoun, et al. Assisted Dynamic Positioning of A Moored FPSO: Robustness Aspects Regarding Current Forces Modeling. In The 22nd International Conference on Offshore Mechanics and Arctic Engineering, Cancun, Mexico, 2003. Proceedings of OMAE'03, paper OMAE2003-37066., 2003.
  • TANNURI, Eduardo Aoun, et al. Dynamic analysis of a DP-FPSO: offloading with DP and non-DP shuttle tankers in the Gulf of Mexico. In 3rd International Workshop on Applied Offshore Hydrodynamics, Rio de Janeiro, 2007. 3rd International Workshop on Applied Offshore Hydrodynamics.RJ : COPPE/UFRJ, 2007.
  • TANNURI, Eduardo Aoun, et al. Dynamic Positioning of a Pipeline Launching Barge. In 12th International Offshore and Polar Engineering Conference, KitaKyushu, Japan, 2002. 12th International Offshore and Polar Engineering Conference.Cupertino, CA, USA : ISOPE, 2002.
  • TANNURI, Eduardo Aoun, and PESCE, C. P. Dynamic positioning of a pipeline launching barge : comparison between control algorithms. In Mediteranean Control Conference, Lisboa, Portugal, 2002. Mediteranean Control Conference., 2002.
  • TANNURI, Eduardo Aoun, BRAVIN, T. T., and PESCE, C. P. Development of a Dynamic Positioning System Simulator for Offshore Operations. In COBEM2003, São Paulo, 2003. 17th International Congress of Mechanical Engineering.RJ : ABCM, 2003.
  • TANNURI, Eduardo Aoun, BRAVIN, T. T., and PESCE, C. P. Dynamic Positioning Systems: Comparison Between Wave Filtering Algorithms and their Influence in DP Performance. In 22nd International Conference on Offshore Mechanics and Arctic Engineering, Cancun, Mexico, 2003. Proceedings of OMAE'03, paper OMAE2003-OFT37067., 2003.
  • TANNURI, Eduardo Aoun, PESCE, C. P., and DONHA, Décio C. Assisted Dynamic Positioning System for a FPSO, Based on Minimization of a Cost Function. In IFAC-CAMS 2001, Glasgow, 2001. Control Applied to Marine Systems., 2001.
  • TANNURI, Eduardo Aoun, PESCE, C. P., and DONHA, Décio C. Dynamic Positioning of a Turred Moored FPSO Using Sliding Mode Control. In OMAE 2001, Rio de Janeiro, 2001. Proceedings of the 20th Offshore Mechanics and Arctic Engineering Conference., 2001.
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