Journal
IEEE ACCESS
Volume 4, Issue -, Pages 2656-2669Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2016.2553719
Keywords
Marine technology; Closed loop systems; Ice
Categories
Funding
- Norges Forskningsrad through the CRI SAMCoT Project [203471]
- COE AMOS Project [223254]
- Research Council of Norway through the KMB Project: Arctic DP [199567]
- MARTEC ERA-NET Project: Dynamic positioning in ice covered waters [196897]
- PhD Ivan Metrikin
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Acceleration signals have a powerful disturbance rejection potential in rigid body motion control, as they carry a measure proportional to the resulting force. Yet, they are seldom used, since measuring, decoupling, and utilizing the dynamic acceleration in the control design is not trivial. This paper discusses these topics and presents a solution for marine vessels building on conventional methods together with a novel control law design, where the dynamic acceleration signals are used to form a dynamic referenceless disturbance feedforward compensation. This replaces conventional integral action and enables unmeasured external loads and unmodel dynamics to be counteracted with low time lag. A case study shows the feasibility of the proposed design using experimental data and closed-loop high fidelity simulations of dynamic positioning in a harsh cold climate environment with sea-ice.
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