PL EN


Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
2011 | 21 | 3 | 467-478
Tytuł artykułu

Fault monitoring and fault recovery control for position-moored vessels

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
This paper addresses fault-tolerant control for position mooring of a shuttle or floating production storage and offloading vessels. A complete framework for fault diagnosis is presented. A loss of a sub-sea mooring line buoyancy element and line breakage are given particular attention, since such failures might cause high-risk abortion of an oil-loading operation. With significant drift forces from waves, non-Gaussian elements dominate forces and the residuals designed for fault diagnosis. Hypothesis testing is designed using dedicated change detection for the type of distribution encountered. A new position recovery algorithm is proposed as a means of fault accommodation in order to keep the mooring system in a safe state, despite faults. The position control is shown to be capable of accommodating serious failures and preventing breakage of a mooring line, or a loss of a buoyancy element, from causing subsequent failures. Properties of the detection and fault-tolerant control algorithms are demonstrated by high fidelity simulations.
Rocznik
Tom
21
Numer
3
Strony
467-478
Opis fizyczny
Daty
wydano
2011
otrzymano
2010-03-01
poprawiono
2010-11-20
Twórcy
autor
  • Centre for Ships and Ocean Structures, Norwegian University of Science and Technology, Otto Nielsens Vei 10, NO 7491 Trondheim, Norway
  • Automation and Control Group, Department of Electrical Engineering, Technical University of Denmark, Elektrovej build. 326, DK 2800 Kgs Lyngby, Denmark
  • Centre for Ships and Ocean Structures, Norwegian University of Science and Technology, Otto Nielsens Vei 10, NO 7491 Trondheim, Norway
Bibliografia
  • Aamo, O. and Fossen, T. (2001). Finite element modelling of moored vessels, Mathematical and Computer Modelling of Dynamical Systems 7(1): 47-75.
  • Berntsen, P., Aamo, O. and Leira, B. (2006). Dynamic positioning of moored vessels based on structure reliability, Proceedings of the 45th IEEE Control and Decision Conference, San Diego, CA, USA, pp. 5906-5911.
  • Berntsen, P., Aamo, O. and Leira, B. (2008a). Structural reliability-based control of moored interconnected structures, Control Engineering Practice 16(4): 495-504.
  • Berntsen, P., Aamo, O. and Leira, B. (2008b). Thruster assisted position mooring based on structural reliability, International Journal of Control 81(9): 1408-1416.
  • Blanke, M. (2005). Diagnosis and fault-tolerant control for ship station keeping, Proceedings of the 13th Mediterranean Conference on Control and Automation, Limassol, Cyprus, pp. 1379-1384.
  • Blanke, M., Kinnaert, M., Lunze, J. and Staroswiecki, M. (2006). Diagnosis and Fault-tolerant Control, 2nd Edn., Springer, Berlin/Heidelberg.
  • Blanke, M. and Staroswiecki, M. (2006). Structural design of systems with safe behaviour under single and multiple faults, Proceedings of the IFAC Symposium SAFEPROCESS 2006, Beijing, PR China, pp. 474-479.
  • DNV (2008a). Dynamic positioning systems, Rules for Classification of Ships, Part 6, Chapter 7, Det Norsk Veritas, Oslo.
  • DNV (2008b). Positon mooring, DNV-OS-E301, Offshore Standard, Det Norsk Veritas, Oslo.
  • Fossen, T.I. (2002). Marine Control System, Marine Cybernetics, Trondheim.
  • Gao, Z. and Moan, T. (2007). Sensitivity study of extreme value and fatigue damage of line tension in mooring system with one line failure under varying annual environmental condition, Proceedings of the 17th International Offshore and Polar Engineers Conference (ISOPE), Lisbon, Portugal, pp. 3753-3760.
  • Garza-Rios, L.O. and Bernitsas, M.M. (1996). Analytical expressions of the stability and bifurcation boundaries for general spread mooring systems, Journal of Ship Research 40(4): 337-350.
  • Kay, S. (1998). Fundamentals of Statistical Signal Processing, Volume 2: Detection Theory, Prentice Hall, Upper Saddle River, NJ.
  • Kim, M. and Dick, K. (1989). Slowly-varying wave drift forces in short-crested irregular seas, Applied Ocean Research 11(1): 2-18.
  • Laursen, M., Blanke, M. and Dustegor, D. (2008). Fault diagnosis of a water for injection system using enhanced structural isolation, International Journal of Applied Mathematics and Computer Science 18(4): 593-603, DOI: 10.2478/v10006-008-0052-5.
  • MARINTEK (2003). RIFLEX User Manual, MARINTEK report no. 519619, Trondheim.
  • Mavrakos, S., Papazoglou, V., Triantafyllou, M. and Hatjigeorgiou, J. (1996). Deep water mooring dynamics, Marine Structure 9(2): 181-209.
  • Næss (1986). The statistical distribution of the second order slowly varying forces and moments, Applied Ocean Research 8(2): 110-118.
  • Nguyen, D., Blanke, M. and Sørensen, A. (2007). Diagnosis and fault-tolerant control for thruster-assisted position mooring, Proceedings of the IFAC Conference on Control Applications in Marine Systems, CAMS'2007, Bol, Croatia, DOI: 10.3182/20070919-3-HR-3904.00051.
  • Nguyen, D. and Sørensen, A. (2007). Setpoint chasing for thruster-assisted position mooring, Proceeding of the 26th International Conference of Ocean, Offshore and Arctic Engineering (OMAE), San Diego, CA, USA, pp. 553-560.
  • Nguyen, D. and Sørensen, A. (2009). Switched control for thruster-assisted position mooring, Control Engineering Practice 17(9): 985-994.
  • Nguyen, D.T. and Blanke, M. (2009). Fault-tolerant positioning control for offshore vessels with thruster and mooring actuation, Technical report, Norwegian University of Technology and Science, CeSOS, Trondheim.
  • Poulsen, N.K. and Niemann, H. (2008). Active fault diagnosis based on stochastic tests, International Journal of Applied Mathematics and Computer Science 18(4): 487-496, DOI: 10.2478/v10006-008-0043-6.
  • Strand, J., Sørensen, A. and Fossen, T. (1998). Design of automatic thruster assisted position mooring systems for ships, Modelling, Identification and Control 19(2): 61-75.
  • Tomera, M. (2010). Nonlinear controller design of a ship autopilot, International Journal of Applied Mathematics and Computer Science 20(2): 271-280, DOI: 10.2478/v10006010-0020-8.
  • Wang, K. and Xu, W. (2008). Study of wave drift forces affecting FPSO systems, Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 29(12): 1261-1265.
  • Wang, Y.-G. and Tan, J.-H. (2008). Markov modeling for slow drift oscillations of moored vessels in irregular waves, Chuan Bo Li Xue/Journal of Ship Mechanics 12(3): 368-376.
  • Witkowska, A., Tomera, M. and Śmierzchalski, R. (2007). A backstepping approach to ship course control, International Journal of Applied Mathematics and Computer Science 17(1): 73-85, DOI: 10.2478/v10006-007-0007-2.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv21i3p467bwm
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.