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2011 | 21 | 3 | 467-478

Tytuł artykułu

Fault monitoring and fault recovery control for position-moored vessels

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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.








Opis fizyczny




  • 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


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