Vessel dynamic positioning system mathematical model.

Abstract

The work analyses a structure and principles of the dynamic positioning system as a high-tech control complex and also considers the problems of these systems. A mathematical model with the equation of the non-linear motion of the ship with three degrees of freedom for the purpose of obtaining reliable coordinates for keeping the ship at a given point is shown. The greatest interest is the reaction of the analysed system’s to disturbing external influences. The causes of their occurrence are usually wind, current and sea waves. The presence of disturbances entails a deviation of the ship from the desired position, which requires appropriate intervention from the control system. To weaken the specified reaction, various dynamic filters are introduced into the composition of the control law, which suppress the component of the control signal generated by sea waves.