Print Email Facebook Twitter Dynamic Positioning during Heavy Lift Operations: Using fuzzy control techniques, Nonlinear Observer and H-Infinity Method Separately to Obtain Stable DP Systems for Heavy Lift Operations Title Dynamic Positioning during Heavy Lift Operations: Using fuzzy control techniques, Nonlinear Observer and H-Infinity Method Separately to Obtain Stable DP Systems for Heavy Lift Operations Author Ye, J. Contributor Hopman, J.J. (mentor) Godjevac, M. (mentor) El Amam, E. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Maritime and Transport Technology Department Programme DPO Date 2016-03-31 Abstract Dynamic positioning has been developed for over half a century and is now widely used on board. However, the existing dynamic positioning system is not specially made with heavy lift vessels. This report is to solve the dynamic positioning problem during heavy lift operations. To fulfill this goal, the robustness and stability of the solutions are also considered. The solutions mentioned in this report are based on the RH Marine vessel model and the RH Marine DP system. First the crane vessel model is reviewed and checked. Then the solutions are chosen and applied. At last the results are presented and analyzed. The stability of each solution is approached and the robustness of each solution is tested in Simulink. There are three solutions in this thesis. Fuzzy controller, nonlinear passive observer and H-infinity controller are implemented to the original system separately. For first two solutions, there’s no theoretical proof that they are robust. For H-infinity controller, it is proven to be robust. All three solutions showed good robustness under tests. This report, as a master thesis, is to present the dynamic positioning problem to the reader and to provide possible solutions to the heavy lift dynamic positioning problem. Subject Dynamic Positioning To reference this document use: http://resolver.tudelft.nl/uuid:b62c6893-800f-4ee5-b52a-d4eff7c69201 Embargo date 2016-03-31 Part of collection Student theses Document type master thesis Rights (c) 2016 Ye, J. Files PDF Dynamic_Positioning_durin ... ations.pdf 3.93 MB Close viewer /islandora/object/uuid:b62c6893-800f-4ee5-b52a-d4eff7c69201/datastream/OBJ/view