Dynamic Positioning Mathematical Model
Building the" Mathematical Model" in dynamic positioning systems
A Dynamic Position ship (DP Vessel) or offshore drilling unit will be subjected to the impacts from forces such as wind, waves and current as well as from forces generated by its propulsion system and possibly other vessels working in close proximity.
The vessel's response to all these forces with regards to changes in position, heading and speed are measured by the position-reference systems (PRS), the gyro compass's (Heading) and the motion or vertical reference sensors (MRU VRS) Heave pitch roll). Wind speed and direction is measured by the wind sensors.
The dynamic positioning control system calculates the forces that are required by the vessel to effectively control the vessel’s motion in the three controllable degrees of freedom in the horizontal plane surge, sway and yaw. There are in total six degrees of freedom or (6dof) as they are often refer to. and we will look at those next
In order to retain the recent history and to be able to draw from that historical data in order to compare with the real time data input and make predictions for expected power requirements necessary for the vessel to maintain position the DP system builds a mathematical model. a software model of the vessel s positioning characteristics over a set period of time, usually around 30 minutes.
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Dynamic Positioning The Mathematical Model