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Marine Control Systems

Professor Asgeir J. Sørensen, Department of Marine Technology, Norwegian University of Science and

Technology – NTNU

Dr. Ole Jakob Sørdalen, Counsellor Science and Technology for South East Asia with the Royal

Norwegian Embassy in Singapore

27-28 April 2005National University of Singapore

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DAY 1Hours Topics: Overview of marine control systems and basic theory

0830-1000Lecturer:Sørdalen/Sørensen

Introduction to marine control systems: Overview of marine control applications:

o Dynamic positioning of ships and floaterso Thruster assisted position mooring systems of FPSOs and rigso Guidance and control (tracking control/autopilots) of ships o Marine automation systemso Propulsion controlo Diesel electrical systemso Marine intervention and installation operations

System description:o Environment o Vesselo Power o Automation o Safety and availability requirements, e.g. redundancy, …

Design challenges Simulation environment

1000-1030 Tea break

1030-1200Lecturer:Sørdalen

Introduction to control theory: State space models Linear control theory Single-input-single-output (SISO) control Multiple-input-multiple-output (MIMO) control

1200-1300 Lunch

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DAY 1Hours Topics: Overview of marine control systems and basic theory

1300-1430Lecturer:Sørensen

Signal processing: Computer-Controlled Systems Real time systems Sampling and aliasing Multiple signals Elementary Signal Quality Checking Conventional analog filtering

1430-1500 Tea break

1500-1630Lecturer:Sørensen

Part 1 (45 min): Filtering and state estimation: State space estimation by use of linear observer theory Minimum variance state estimation: Kalman filterPart 2 (45 min): Dynamic positioning: Mathematical modelling of DP operated ships and rigs: Wave, wind and current models Hydrodynamics: Wave-frequency and low-frequency models

1630-1700 Summary, Q&A

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DAY 2Hours

Topics: Dynamic positioning, marine automation, diesel electrical propulsion and trends

0830-1000Lecturer:Sørdalen/Sørensen

Dynamic positioning: Part 1 (60 min): Control systems for dynamic positioning and thruster

assisted position mooring systems: Nonlinear observer for DP Linear multivariable optimal control (LQG) Nonlinear PIDPart 2 (30 min): Control/thrust allocation Design requirements Optimization rules Singularity avoidance

1000-1030 Tea break

1030-1200Lecturer:Sørensen/Sørdalen

Part 1 (45 min) Marine automation: Functions: Power management, ballast control, engine control, etc. Automation plant configurations Integrated versus stand alone systems Industrial IT – integration of real time systems with operational

management systems, Asset management systemsPart 2 (45 min) Power system: History Applications Power plant configurations Design requirements Control systems for power plant equipment (drives, motors, generators)

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DAY 2Hours

Topics: Dynamic positioning, marine automation, diesel electrical propulsion and trends

1300-1430Lecturer:Sørensen

Diesel electrical propulsion:Local control of power consumers: thrusters (tunnel and azimuthing) and

propellers: Thrust/moment models RPM or pitch, torque and power control Combined moment and power control Anti-spin thrust control

1430-1445 Tea break

1445-1530Lecturer:Sørensen/Dong

Trends within marine control systems: Hybrid vessel control with multi-regime speed and environmental conditions

from moderate to extreme seas (Sørensen/Dong) Control of flexible slender structures, e.g. tensioned risers, drilling risers,

suspended loads, mooring systems, trawl system, etc. Motion and shape control of large-scale interconnected structures, e.g.

hinged fish-farm structures, tensegrity structures, etc. Fault-tolerant control Hardware-In-the-Loop (HIL) safety and performance testing of marine

control systems

1530-1700 Demonstration of Dynamic Positioning Systems by Kongsberg Maritime

1700-1730 Summary, Q&A

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Acknowledgements• Partnership on Marine Technology with National

University of Singapore• Post doctor:

– Dr. Tristan Perez

• PhD students:– Jann Peter Strand, co-advisor together with Prof. T. I. Fossen, graduated 1999– Karl P. W. Lindegaard, co-advisor together with Prof. T. I. Fossen, graduated

2003– Svein Arne Reinholdtsen, Vegar Johansen, Karl Johan Reite, Øyvind Smogeli,

Jon Refsnes, Anne Marthine Rustad, Anders Sunde Wroldsen, Per Ivar Bart Berntsen, Damir Radan, Eivind Ruth, Nguyen Trong Dong (NUS)

• Approx. 50+ MSc and 2 Marie Curie PhD students• Colleagues at NTNU and Marine Cybernetics • Previous colleagues at ABB (1993-2003)• Kongsberg Maritime for DP demonstration• Some slides on control introduction are from University

of Lund, Sweden