摘要：AbstractThe need for fast and precise positioning of marine vessels is growing when it comes to offshore applications. Voith Schneider Propellers have huge potential for those tasks since their technical setup allows significantly faster reaction than propeller-based thrusters. This contribution presents a system for Dynamic Positioning using this propulsion system. A PID control structure with dynamic allocation of the manipulating variable to several thrusters was developed to achieve accurate positioning. Furthermore, a control loop extension for active roll damping was investigated. Lumped parameter models are used for controller synthesis. A simulation based validation of the control approach is presented.
关键词：KeywordsDynamic PositioningVoith Schneider PropellerModel Based Control DesignDynamic AllocationRoll Damping
