DEVELOPMENT OF A HYBRID SIMULATION AND EXPERIMENT TESTPLATFORM FOR DYNAMIC POSITIONING VESSELS Changjun Hu12 Quan Shi12Xin Li12Xiaoxian Guo12_2

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DEVELOPMENT OF A HYBRID SIMULATION AND EXPERIMENT

TEST PLATFORM FOR DYNAMIC POSITIONING VESSELS ∗

Changjun Hu1,2, Quan Shi1,2,Xin Li1,2,Xiaoxian Guo∗1,2

1 State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University , Shanghai,China

2 SJTU Yazhou Bay Institute of Deepsea Technology, Sanya, China

{Xiaoxian Guo}xiaoxguo@sjtu.edu.cn

ABSTRACT

The harsh ocean environment and complex operating condition require high dynamic positioning

(DP) capability of offshore vessel. The design, development and performance evaluation of DP

system are generally carried out by numerical simulations or scale model experiments. Compared

with the time-consuming and laborious experiment, the simulation is convenient and low cost, but

its results lack practical reference due to oversimpliﬁcation of the model. Therefore, this paper

presents a hybrid simulation and experiment test platform for DP vessels. Its characteristics are:

the realistic calculation of environmental loads and motion response, the consistency of algorithms

and parameters for simulation and experiment greatly shortening the time of experiment adjusting,

switchable and online renewable controller facilitating algorithm testing. The test platform can test

the performance of DP system and determine the operational time window. In the hydrodynamic

simulation, the six degree-of-freedom model is used to describe the dynamic response of the DP

vessel, considering the ﬂuid memory effect and frequency-dependent hydrodynamic parameters.

In the experiment, the similarity theory based on the same Froude number is used to ensure the

consistency of control parameters with simulation. Finally, a case study of DP shuttle tanker is used

to verify the credibility of the test platform.

Keywords Dynamic positioning ·Hydrodynamic simulation ·Experiment

1 Introduction

The DP control system can continuously activate the vessel’s propellers to balance the external disturbances (wind,

waves and currents, etc.), and automatically control the position/heading of vessel in horizontal plane. Recently, with

the deepening of marine development, the development of marine engineering technology is becoming more and more

complex[1]. The DP technology has been vigorously promoted, because of its broad application prospects, such as

drilling, pipe-laying, ofﬂading, and diving support etc. However, DP system development and evaluation for ocean

offshore vessel are highly complex and time-consuming.

The performance of DP system should be tested in simulation and model experiment before commissioning test in

real. And for determining offshore dynamic positioning operational sea state, numerical and experimental validations

are also required. While the model test is always constrained by the signiﬁcant consumption of time and money,

time domain simulation is a common and convenient tool for design, analysis and predication of the DP system.

Donnarumma et al. (2015) designed the DP controller structure by model-based design approach using simulation

techniques[2]. Tannuri et al. (2003) developed a computational simulator for DP Systems enabling the simulation of

several DP operations, as drilling station keeping, pipe laying path following and those related to assisted ofﬂoading[3].

Martelli et al. (2022) designed DP system and evaluated its dynamic performance using a ship’s dynamic simulator[4].

Zhan et al. (2013) developed a numerical station-keeping simulation in waves for a simpliﬁed FPSO with two DP

systems[5]. However, most of the above scholars use simple numerical models in simulation. These simple models

∗Citation:Changjun Hu, Quan Shi, Xin Li, Xiaoxian Guo. Development of a Hybrid Simulation and Experiment Test

Platform for Dynamic Positioning Vessels.

arXiv:2210.12621v1 [eess.SY] 23 Oct 2022

Development of a Hybrid Simulation and Experiment Test Platform for Dynamic Positioning Vessels

only consider the linear superposition of low frequency ship maneuverability model and wave frequency model. These

models ignore the effects of ﬂuid memory and frequency dependent hydrodynamic parameters. So it is hard to capture

the nonlinear response of the external exciting force on the structures. Simulation results of the platform motion, power

consumption has no reliable guiding signiﬁcance for engineering practice. As Fossen (2011) emphasized clearly, the

simulation model should be able to reconstruct the motion response of the real physical system, where including the

convincing environmental loads and the ﬂuid-memory effects caused by the hydrodynamic coefﬁcients[6]. Therefore,

it is necessary to establish a DP simulator considering more accurate hydrodynamic environment simulation rather

than just three degree-of-freedom (3 DOF) motion model using constant hydrodynamic parameters.

In addition, the model experiment is an effective means to study the motion response of DP control for vessels. Based

on the similarity theory, researchers have carried out a lot of research works on the scale model experiments of DP

control. Loria et al. (2000) carried out a 1:70 scaled model ship to validete the separation principle for DP using

noisy position measurements[7]. Pettersen and Fossen carried out the experiment of underactuated DP of a ship using

a model ship, scale 1:70[8]. Tannuri et al. (2010) carried out the experiment of sliding mode control for a 1:150

scaled tanker[9]. Hu et al. (2020) carried out a 1:37 scaled model DP experiment of a novel twin-lift decommissioning

operation[10]. A more common research and test method is the combination of numerical simulation and experiment

method. Experimental tests were performed in combination with numerical analysis in order to validate the control

algorithm. Leira et al. (2009) demonstrate the performance of their reliability-based DP system of surface vessels

moored to the seabed both by numerical simulations and laboratory experiments on a model vessel[11]. Tannuri and

Morishita carried out a simpliﬁed experiment composed of a scaled model to pre-validate their simulator of typical

DP system[12]. But it is worth noting that the experimental conditions and equipment are not so easy to construct

and obtain, and the commissioning of experiments on site is also very complicated and difﬁcult. Therefore, it is very

meaningful to develop a hybrid simulation and experiment test platform, so reliable hydrodynamic simulation can be

used to replace a part of experiment works to complete parameter adjustment in advance.

This paper attempts to ﬁnd a convenient, efﬁcient and accurate test evaluation method for DP system. Therefore, more

accurate numerical simulation, model experiment with parameter pre-adjustment, switchable algorithm and parameter

control module are considered to build a hybrid simulation and experiment test platform. The simulation environment

is constructed in combination with the hydrodynamic programs, including the calculation of frequency-dependent hy-

drodynamic coefﬁcients and motion response considering ﬂuid memory effect under environment loads of wind, waves

and currents. Therefore, more accurate time domain simulation of dynamic positioning system motion response is re-

alized. In addition, the experimental environment is constructed by a hardware framework using the scaled model of

real vessel based on similarity theory of the same Froude number. During the experiment, all data are converted to

the real ship scale to ensure the consistency of algorithm and control parameters in all numerical simulation, experi-

ment and real ship. This consistency makes it possible to pre-adjust experimental parameters with simulation results.

The DP controller ,equipped with switchable complete closed-loop control solution (i.e., reference ﬁlter, PID control,

QP-based thrust allocation algorithm), has been developed to be compatible with both the simulation environment

and the experiment environment. The present paper is organized as follows: in Section 2, the overall structure and

characteristics of hybrid simulation and experiment test platform are brieﬂy introduced. In Section 3, the calculation

of accurate hydrodynamic and motion response in numerical simulation is introduced. In Section 4, the experiment

model scales 1:50 and hardware equipments such as thrusters and observer are shown, and the scale conversion used

is introduced. In Section 5, we show a modular controller with switchable and online parameter adjustment functions.

The results of simulation and experiment are summarized in Section 6 and some concluding remarks are given at the

end of the paper.

2 Overall Structure of the hybrid platform

The framework of the hybrid simulation and experimental test platform mainly includes three parts: hydrodynamic

simulation module, model experiment module and DP controller module. The block diagram of the hybrid test plat-

form can be shown in Figure 1. Among them, the hydrodynamics simulation module (a) using hydrodynamics cal-

culation programs to compute the hydrodynamics, environmental loads, and the motion response of DP ship, details

in section 3 . The experiment module (b) means the scale model experiment carried out in the laboratory basin also

used to test the performance of the DP system conﬁrming with simulation, details in section 4.The control module

switchability, details in section 5. The signal interaction is realized through the local area network (LAN) TCP/IP

communication protocol between controller and hydrodynamic simulation module or model experiment module, that

is, receiving the ship’s position/heading state and sending control commands.

The design of this framework ensures the consistency of algorithms used in experiments and simulations. In order to

achieve the same effective control effect in the scaled model experiment using the control parameters of the full scale

Development of a Hybrid Simulation and Experiment Test Platform for Dynamic Positioning Vessels

Figure 1: Block diagram of the comprehensive simulation and experiment platform

obtained by simulation, more accurate calculation of hydrodynamic and motion response is realized in simulation, and

the scale conversion is used in the model experiment to make the input and output data of each control loop be the

full scale. Therefore, the pre-adjustment of control parameters can be completed in simulation, which can provide

reference for model test parameters and shorten ﬁeld adjusting time in experiment, tightly linking simulation and

experiment together. It avoids the big difference of control parameters caused by different simulation and experiment

scales mentioned by Ianagui et al.[13].

The control module in the framework is modular designed and can be switchable, which is easy to expand, monitor

and adjust parameters online. The realization of these characteristics is based on the use of ROS. ROS has become the

standard platform approach for modern robots and is also used in the development of surface or underwater vehicles

by other researchers [14] [15]. The structure of ROS enables data to be transferred easily between modules through

nodes and topics[16].Topics are named buses over which nodes exchange messages. A node is a process that performs

computation. Nodes are combined together into a graph and communicate with one another using streaming topics.

In this paper, the modular development of the controller is realized , and each algorithm module can be switched

independently. Online adjusting of parameters during program execution is also implemented, avoiding recompilation

after each parameter adjustment, to improve the speed of parameter tuning.

Coordinate system used in this paper As shown in Figure 2, the North-East-Down (NED) coordinate system {n}=

(xn, yn, zn)is deﬁnited relative to earth as earth-ﬁxed (global) reference frame, and the body-ﬁxed (local) reference

frame {b}= (xb, yb, zb)is a moving coordinate frame that is ﬁxed to the vessel. The seakeeping reference frame {s}=

(xs, ys, zs)is not ﬁxed to the vessel; it is ﬁxed to the equilibrium state of vessel. The s frame is considered inertial and

therefore it is nonaccelerating and ﬁxed in orientation with respect to the n frame, Uis the average forward speed. The

position or velocities considered in this paper use the following representation: η= [x, y, z, φ, θ, ψ]T∈ {n}is the

vector of position/euler angles in earth-ﬁxed reference frame; v= [u, v, w, p, q, r]T∈ {b}is the vector of velocities in

body-ﬁxed reference frame. δη = [δx, δy, δz, δφ, δθ, δψ]T∈ {s}is the vector of surge, sway and heave perturbations

and roll, pitch and yaw perturbations in seakeeping coordinates, and corresponding δv = [δu, δv, δw, δp, δq, δr]T∈

{s}is perturbed velocities.

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DEVELOPMENTOFAHYBRIDSIMULATIONANDEXPERIMENTTESTPLATFORMFORDYNAMICPOSITIONINGVESSELSChangjunHu1;2,QuanShi1;2,XinLi1;2,XiaoxianGuo1;21StateKeyLaboratoryofOceanEngineering,ShanghaiJiaoTongUniversity,Shanghai,China2SJTUYazhouBayInstituteofDeepseaTechnology,Sanya,China{XiaoxianGuo}xiaoxguo@sjtu.edu.cnA...

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DEVELOPMENT OF A HYBRID SIMULATION AND EXPERIMENT TESTPLATFORM FOR DYNAMIC POSITIONING VESSELS Changjun Hu12 Quan Shi12Xin Li12Xiaoxian Guo12_2

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