Design and Reliability Analysis of DP-3 Dynamic Positioning Control Architecture

As the exploration and exploitation of oil and gas proliferate throughout deepwater area, the requirements on the reliability of dynamic positioning system become increasingly stringent. The control objective ensuring safety operation at deep water will not be met by a single controller for dynamic positioning. In order to increase the availability and reliability of dynamic positioning control system, the triple redundancy hardware and software control architectures were designed and developed according to the safe specifications of DP-3 classification notation for dynamically positioned ships and rigs. The hardware redundant configuration takes the form of triple-redundant hot standby configuration including three identical operator stations and three real-time control computers which connect each other through dual networks. The function of motion control and redundancy management of control computers were implemented by software on the real-time operating system VxWorks. The software realization of task loose synchronization, majority voting and fault detection were presented in details. A hierarchical software architecture was planed during the development of software, consisting of application layer, real-time layer and physical layer. The behavior of the DP-3 dynamic positioning control system was modeled by a Markov model to analyze its reliability. The effects of variation in parameters on the reliability measures were investigated. The time domain dynamic simulation was carried out on a deepwater drilling rig to prove the feasibility of the proposed control architecture

Hybrid Dynamic Variables-Dependent Event-Triggered Fuzzy Model Predictive Control

This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.

Coupled Dynamics and Integrated Control for Position and Attitude Motions of Spacecraft:A Survey

Inspired by the integrated guidance and control design for endo-atmospheric aircraft,the integrated position and attitude control of spacecraft has attracted increasing attention and gradually induced a wide variety of study results in last over two decades,fully incorporating control requirements and actuator characteristics of space missions.This paper presents a novel and comprehensive survey to the coupled position and attitude motions of spacecraft from the perspective of dynamics and control.To this end,a systematic analysis is firstly conducted in details to show the position and attitude mutual couplings of spacecraft.Particularly,in terms of the time discrepancy between spacecraft position and attitude motions,space missions can be categorized into two types:space proximity operation and space orbital maneuver.Based on this classification,the studies on the coupled dynamic modeling and the integrated control design for position and attitude motions of spacecraft are sequentially summarized and analyzed.On the one hand,various coupled position and dynamic formulations of spacecraft based on various mathematical tools are reviewed and compared from five aspects,including mission applicability,modeling simplicity,physical clearance,information matching and expansibility.On the other hand,the development of the integrated position and attitude control of spacecraft is analyzed for two space missions,and especially,five distinctive development trends are captured for space operation missions.Finally,insightful prospects on future development of the integrated position and attitude control technology of spacecraft are proposed,pointing out current primary technical issues and possible feasible solutions.

Portable Dynamic Positioning Control System on A Barge in Short-Crested Waves Using the Neural Network Algorithm

This paper develops a nonlinear mathematical model to simulate the dynamic motion behavior of the barge equipped with the portable outboard Dynamic Positioning （DP） system in short-crested waves. The self-tuning Proportional- Derivative （PD） controller based on the neural network algorithm is applied to control the thrusters for optimal adjustment of the barge position in waves. In addition to the wave, the current, the wind and the nonlinear drift force are also considered in the calculations. The time domain simulations for the six-degree-of-freedom motions of the barge with the DP system are solved by the 4th order Runge-Kutta method which can compromise the efficiency and the accuracy of the simulations. The technique of the portable alternative DP system developed here can serve as a practical tool to assist those ships without being equipped with the DP facility while the dynamic positioning missions are needed.

Adaptive Observer Based Backstepping Controller Design for Dynamic Ship Positioning

Modified adaptive observer based backstepping control system for dynamic positioning of ship is proposed. As an improvement, the adaptive observer takes the first-order wave frequency model and the bias term which represent the slowly varying environmental disturbances and the unmodeled dynamics. Thus, the wave-frequency motions are filtered out, and only the reconstructed low-frequency motions are sent as inputs of the controller. Furthermore, as the ship dynamics parameters are unknown, the adaptive estimation law is designed for both the unknown ship dynamics and the unmeasured state variables. Based on the estimated states and parameters, backstepping controller considering the integral action is designed. Global exponential stability （GES） for the total system is proved using Lyapunov direct method. Simulation results show a good performance of the observer and control system.

Nonlinear observer-controller design for dynamic positioning of ships

The main focus is nonlinear model-based dynamic positioning (DP) control system design. A nonlinear uniform global exponential stability (UGES) observer produces noise-free estimates of the position, the slowly varying environmental disturbances and the velocity, which are used in a proportional-derivative (PD) + feedforward control law. The stability of this observer-controller system is proved by introducing a specific nonlinear cascaded system. The simulation results have successfully demonstrated the performance of designed DP control system.

Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships

A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.

Fully Coupled Time-Domain Simulation of Dynamic Positioning Semi-Submersible Platform Using Dynamic Surface Control

A fully coupled 6-degree-of-freedom nonlinear dynamic model is presented to analyze the dynamic response of a semi-submersible platform which is equipped with the dynamic positioning(DP) system. In the control force design, a dynamic model of reference linear drift frequency in the horizontal plane is introduced. The dynamic surface control(DSC) is used to design a control strategy for the DP. Compared with the traditional back-stepping methods, the dynamic surface control combined with radial basis function(RBF) neural networks(NNs) can avoid differentiating intermediate variables repeatedly in every design step due to the introduction of a first order filter. Low frequency motions obtained from total motions by a low pass filter are chosen to be the inputs for the RBF NNs which are used to approximate the low frequency wave force. Considering the propellers' wear and tear, the effect of filtering frequencies for the control force is discussed. Based on power consumptions and positioning requirements, the NN centers are determined. Moreover, the RBF NNs used to approximate the total wave force are built to monitor the disturbances. With the DP assistance, the results of fully coupled dynamic response simulations are given to illustrate the effectiveness of the proposed control strategy.

Model Predictive Controller Design for the Dynamic Positioning System of a Semi-submersible Platform

这篇论文研究怎么使用先进控制技术为预兆的控制(MPC ) 建模到一个半能沉入水中的平台的动态放系统(DPS ) 的设计。首先，有自由的三度的一个线性低频率的运动模型在一个半能沉入水中的平台的上下文被建立。第二，一个模型预兆的控制器基于考虑了系统的限制的一个模型被设计。第三，模拟被执行表明控制器的可行性。结果表演模型预兆的控制器有好性能并且擅长处理系统的限制。

Dynamic Positioning System Design for A Marine Vessel with Unknown Dynamics Subject to External Disturbances Including Wave Effect

In this paper, a new control system is proposed for dynamic positioning(DP) of marine vessels with unknown dynamics and subject to external disturbances. The control system is composed of a substructure for wave filtering and state estimation together with a nonlinear PD-type controller. For wave filtering and state estimation, a cascade combination of a modified notch filter and an estimation stage is considered. In estimation stage, a modified extended-state observer(ESO) is proposed to estimate vessel velocities and unknown dynamics. The main advantage of the proposed method is its robustness to model uncertainties and external disturbances and it does not require prior knowledge of vessel model parameters. Besides, the stability of the cascade structure is analyzed and input to state stability(ISS) is guaranteed. Later on, a nonlinear PD-type controller with feedforward of filtered estimated dynamics is utilized. Detailed stability analyses are presented for the closed-loop DP control system and global uniform ultimate boundedness is proved using large scale systems method. Simulations are conducted to evaluate the performance of the proposed method for wave filtering and state estimation and comparisons are made with two conventional methods in terms of estimation accuracy and the presence of uncertainties. Besides, comparisons are made in closed-loop control system to demonstrate the performance of the proposed method compared with conventional methods. The proposed control system results in better performance in the presence of uncertainties,external disturbance and even in transients when the vessel is subjected to sudden changes in environmental disturbances.

Robustifying Dynamic Positioning of Crane Vessels for Heavy Lifting Operation

Construction crane vessels make use of dynamic positioning(DP)systems during the installation and removal of offshore structures to maintain the vessel’s position.Studies have reported cases of instability of DP systems during offshore operation caused by uncertainties,such as mooring forces.DP"robustification"for heavy lift operations,i.e.,handling such uncertainties systematically and with stability guarantees,is a long-standing challenge in DP design.A new DP method,composed by an observer and a controller,is proposed to address this challenge,with stability guarantees in the presence of uncertainties.We test the proposed method on an integrated cranevessel simulation environment,where the integration of several subsystems(winch dynamics,crane forces,thruster dynamics,fuel injection system etc.)allow a realistic validation under a wide set of uncertainties.

Representation of Dynamic Positioning on Hovering Type Autonomous Underwater Vehicle in Precise Welding Operations

This paper proposes dynamic positioning(DP) on a hovering autonomous underwater vehicle(HAUV) to perform accurate underwater processes such as welding operations. High maneuverability, high controllability, and hovering of the robot were the prerequisites of this operation, which increase its accuracy and velocity and reduce costs and human health risks. Other types of thrusters were used in this robot to reduce the number of thrusters and controller’s complexity. Controlling every 6 degrees of freedom to perform this type of operation was done. Furthermore, such a delicate operation required controlling the translational and rotational movements together. There was also a need to control the velocities to travel in a prescribed distance at a reasonable time. The possibility of dynamic positioning for welding and maintaining position at a point was defined for the robot. Then the robot’s performance under a defective state-servo motor failure, thruster malfunction-and the subsequent effects on the performance during the predetermined missions were investigated. Simulation results demonstrated that the HAUV has the capability to perform dynamic positioning operations. In this article, one of the prevalent classic control methods called PID controller was employed for controlling the movements of the robot.

Fixed Time Control of Dynamic Positioning Ship with Unknown Interference

This paper proposes a fixed-time control scheme to ensure that the dynamic positioning can accurately reach the specified position under external interference. A fixed-time state observer was developed to accurately estimate the total external unknown interference. Based on the dynamic positioning ship motion model, the inversion design method is used to ensure the stability of the system and eliminate various uncertain effects. A fixed-time backstepping sliding mode controller is designed. Finally, the simulation results show that the method has good performance and advantages.

Positioning in Dynamic Testing of Slender Bridges

The positioning combined with multi-functioning and interactive mechanics in dynamic testing of slender bridges are treated in present paper. The approach takes into account multiple functions in dynamic testing of slender bridges constructed of thin-walled structural members with their hierarchical configuration. Theoretical, numerical and experimental in situ assessments of the problem are presented. Some results of the application in situ are submitted.

Virtual Reality Simulation of Fuzzy-logic Control during Underwater Dynamic Positioning

在这份报纸，为模拟和用设计环境的 MATLAB 图形用户界面的遥远地操作的车辆(ROV ) 的模糊逻辑的控制的 graphical-user-interface (图形用户界面) 软件被建议。建议 ROV 图形用户界面平台系统地并且交互地允许象系统设计与象 proportional-integral-derivative (PID ) 那样的另外的控制器相比的模糊逻辑的控制那样的控制器和滑动模式控制器(SMC ) 。象海电流那样的外部骚乱能被增加改进建模在实际在水下环境。模仿的结果证明模糊逻辑的控制的位置回答在海水流骚乱下面展出合理性能。

Optimal Filtering Correction forMarine Dynamical Positioning Control System

论文为在动态放工作的海洋的容器(DP ) 集中于控制法律优化的问题政体。这里建议的途径基于根据非线性的 asymptotic 观察员，构造的特殊统一多种用途的控制法律结构的使用那允许合成的去耦进更简单的特别优化问题。为观察员的主要原因是有关容器的无节制的速度恢复缺乏的信息。用除了观察员的很多个分开的项目，完成关上的环连接的理想的动态特征是可能的。最重要的特征是所谓的动态修正者，并且这份报纸因此被奉献给在 DP 系统在海波浪骚乱的行动下面控制的海洋的容器解决它的最佳的合成。这个问题为高频率海波浪部件决定的控制行动的最小的紧张包含需要。为设计动态修正者的一条专业化途径被建议，途径的适用性和有效性用一个实际例子被说明在水下 DP 系统合成。

Influence of pantograph fixing position on aerodynamic characteristics of high-speed trains

To study the influence of the pantograph fixing position on aerodynamic characteristics of high-speed trains, the aerodynamic models of high-speed trains with eight cars were established based on the theory of com- putational fluid dynamics, and eight cases with pantographs fixed on different positions and in different operational orientations were considered. The pantographs were fixed on the front or the rear end of the first middle car or fixed on the front or the rear end of the last middle car. The external flow fields of the high-speed trains were numeri- cally simulated using the software STAR-CCM＋. The results show that the pantograph fixing position has little effect on the aerodynamic drag force of the head car and has a large effect on the aerodynamic drag force of the tail car. The influences of the pantograph fixing position on the aerodynamic lift forces of the head car, tail car and pan- tographs are obvious. Among the eight cases, considering the total aerodynamic drag force of the train and the aerodynamic lift force of the lifted pantograph, when the pantographs are fixed on the rear end of the last middle car and the lifted pantograph is in the knuckle-upstream ori- entation, the aerodynamic performance of the high-speed train is the best.

Numerical Investigation of the Aerodynamic Performance Affected by Spiral Inlet and Outlet in a Positive Displacement Blower

The flow in the positive displacement blower is very complex.The existing two-dimensional numerical simulation cannot provide the detailed flow information,especially flow characteristics along the axial direction,which is unfavorable to improve the performance of positive displacement blower.To investigate the effects of spiral inlet and outlet on the aerodynamic performance of positive displacement blower,three-dimensional unsteady flow characteristics in a three-lobe positive displacement blower with and without the spiral inlet and outlet are simulated by solving Navier-Stokes equations coupled with RNG k-ε turbulent model.In the numerical simulation,the dynamic mesh technique and overset mesh updating method are used.The computational results are compared with the experimental measurements on the variation of flow rate with the outlet pressure to verify the validity of the numerical method presented.The results show that the mass flow rate with the change of pressure is slightly affected by the application of spiral inlet and outlet,but the internal flow state is largely affected.In the exhaust region,the fluctuations of pressure,velocity and temperature as well as the average values of velocity are significantly reduced.This illustrates that the spiral outlet can effectively suppress the fluctuations of pressure,thus reducing reflux shock and energy dissipation.In the intake area,the average value of pressure,velocity and temperature are slightly declined,but the fluctuations of them are significantly reduced,indicating that the spiral inlet plays the role in making the flow more stable.The numerical results obtained reveal the three-dimensional flow characteristics of the positive displacement blower with spiral inlet and outlet,and provide useful reference to improve performance and empirical correction in the noise-reduction design of the positive displacement blowers.

The Effect of Traction Position in Cervical Traction Therapy Based on Dynamic Simulation Models

This study describes the development of a cervical traction therapy simulation model that evaluates two types of the traction positions, namely the sitting position and the inclined position. An anatomically correct human skeleton model and two mechanical traction device models were constructed in simulations using a physics engine. The anterior and posterior intervertebral separations were measured at both positions with a series of traction forces (60N to 200N) and traction angles (10°? to 40°?). The result suggested that the sitting position caused the subject to lean forward and as a result led to excessive anterior compression when traction angle is over 20 degrees. The inclined position creates greater intervertebral separations on both the anterior and posterior sides than the sitting position. This suggests that the inclined position may be more effective in increasing intervertebral separation than the sitting position.

Erroneous presentation of respiratory-hemodynamic disturbances and postsurgical inflammatory responses in patients having undergone abdominal cavity cancer surgery

In this letter to the editor,the authors discuss the findings and shortcomings of a published retrospective study,including 120 patients undergoing surgery for gastric or colon cancer under general anesthesia.The study focused on perioperative dynamic respiratory and hemodynamic disturbances and early postsurgical inflammatory responses.