Robustifying dynamic positioning of crane vessels for heavy lifting operation

Journal article (2021)

Authors

J. Ye Marine and Transport Technology
Spandan Roy International Institute of Information Technology
Milinko Godjevac Future Proof Shipping
V. Reppa Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
S. Baldi , Southeast University
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 J. Ye, Spandan Roy, Milinko Godjevac, V. Reppa, S. Baldi
DOI: https://doi.org/10.1109/JAS.2021.1003913
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Published Date

2021

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

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.

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