Journal of Advanced Research in Ocean Engineering

Korean Society of Ocean Engineers (한국해양공학회)
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Heading Control of a Turret Moored Offshore Structure Using Resolved Motion and Acceleration Control

  • Kim, Young-Shik (Korea Research Institute of Ships and Ocean Engineering) ;
  • Sung, Hong-Gun (Korea Research Institute of Ships and Ocean Engineering) ;
  • Kim, Jin-Ha (Korea Research Institute of Ships and Ocean Engineering)
  • Received : 2018.01.18
  • Accepted : 2018.03.20
  • Published : 2018.03.31
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Abstract

This paper addresses the heading control of an offshore floating storage and regasification unit (FSRU) using a resolved motion and acceleration control (RMAC) algorithm. A turret moored vessel tends to have the slewing motion. This slewing motion may cause a considerable decrease in working time in loading and unloading operation because the sloshing in the LNG containment tank might happen and/or the collision between FSRU and LNGC may take place. In order to deal with the downtime problem due to this slewing motion, a heading control system for the turret moored FSRU is developed, and a series of model tests with azimuth thrusters on the FSRU is conducted. A Kalman filter is applied to estimate the low-frequency motion of the vessel. The RMAC algorithm is employed as a primary heading control method and modified I-controller is introduced to reduce the steady-state errors of the heading of the FSRU.

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References

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