Optimal setpoint chasing in dynamic positioning of deep‐water drilling and intervention vessels

Abstract

Conventional controller designs for dynamic positioning of ships and floating marine structures have so far been based on the principle on automatic positioning in the horizontal-plane about desired position and heading co-ordinates defined by the operator. A three degrees-of-freedom multivariable controller either of linear or nonlinear type, normally with feedback signals from surge, sway and yaw position and velocities, has been regarded as adequate for the control objective. For floating structures with small waterplane area such as semi-submersibles, feedback from roll and pitch angular rotation velocity may also be included to avoid thrust-induced roll and pitch motions that are caused by the hydrodynamic and the geometrical couplings between the horizontal and vertical planes. However, for certain marine operations this control philosophy may not be the most appropriate approach ensuring safety and cost effectiveness. For drilling and work-over operations the main positioning objective is to minimize the bending stresses along the riser and the riser angle magnitudes at the well head on the subsea structure, and at the top joint as well. A positioning control strategy solely based on manual setting of the desired position co-ordinates may not be the most optimal solution for these applications. In this paper a new hybrid dynamic positioning controller, that also accounts for riser angle offsets and bending stresses is proposed. It is shown that a significant reduction in riser angle magnitude can be achieved. Simulations with a drilling semi-submersible demonstrate the effect of the proposed control strategy. Copyright © 2001 John Wiley & Sons, Ltd.