AUTOMATIC ADJUSTMENT OF THE DYNAMIC POSITIONING SYSTEM REDUNDANT STRUCTURE BY DETERMINANT
Files
Date
2025
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
The purpose of the study is to reduce dynamic positioning deviations of the offshore vessel with two stern
azipods and a bow thruster. The following methods were used in the study: linear algebra, to finding the
determinant of the actuators redundant structure minors, singular states of the structure and states
maximally distant from singularities; conditional optimization, to determine the optimal states of the
structure with the maximum determinant; mathematical modeling, to verify the operability and
effectiveness of the developed model. A process mathematical model for adjusting the redundant structure
has been developed, which allows, during dynamic positioning operations, to reduce dynamic deviations
and increase accuracy. The obtained result is explained by: using the on-board controller in the control
system, finding, at each step of the on-board controller, the optimal state of the structure, determined by
the maximum determinant, by solving the conditional optimization problem, taking into account the
constraints of the equalities type (for simultaneous formation of the necessary controls), and the inequalities
type (for taking into account the physical constraints of the structure on the thrust force and the propellers
rotation angles); reconfiguring the structure to a certain optimal position.
Description
Zinchenko, S., Tovstokoryi, O., Nosov, P., & Popovych, I. (2025). Automatic Adjustment of the Dynamic Positioning System Redundant Structure by Determinant. CEUR Workshop Proceedings, 4048, paper 06. https://ceur-ws.org/Vol-4048/paper06.pdf
Keywords
intelligent transportation systems, redundant structures, optimal settings, dynamic positioning, structure determinant