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Title Fault Diagnosis and Control for an FPSO Tanker
Author Stæhr, Mikkel Peter
Supervisor Blanke, Mogens (Automation and Control, Department of Electrical Engineering, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Niemann, Hans Henrik (Automation and Control, Department of Electrical Engineering, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Master's thesis
Year 2009
Abstract Customized vessels are increasingly used in oshore oil drilling operations due to their exibility and ability to operate in deep water and in severe wind and weather condi- tions. The manoeuvring in these operations is a challenging task which requires a high level of precision. Even small positioning errors may have serious consequences, e.g. a break in the riser or a collision with the surrounding vehicles. The particular focus of this study is a thruster-assisted position mooring (PM) system where a vessel is anchored with a number of mooring lines and where the vessel's propulsion system sup- ports the mooring system in reducing the excursions in position and heading resulting from current, wind and wave disturbances. The starting point is an experimental set-up with a 1:120 scaled model of an FPSO (Floating Production Storage and Ooading) tanker operating in the North Sea. The model ship is anchored with four mooring lines and the propulsion system compri- ses three thrusters. A mathematical model is derived for the experimental set-up and the linear properties of the system are analyzed. A full state feedback controller with integration is designed based on the mathematical model. The closed loop system is implemented in MATLAB/Simulink and the implementation is validated through si- mulation. A structural analysis of the open loop system leads to the design of ve residual gene- rators which are used for fault diagnosis. In particular the impact of a fault in one of the ship's thrusters is analyzed and it is demonstrated how this type of fault can be detected through one of the ve residuals. Active fault diagnosis is applied to isolate the fault to the defective thruster. The fault scenario is simulated and a comparison is made of the results with those obtained for data from model experiments.
Imprint Technical University of Denmark (DTU) : Kgs. Lyngby, Denmark
Pages 153
Fulltext
Original PDF Mikkel_Peter_Staehr.pdf (3.76 MB)
Admin Creation date: 2009-10-02    Update date: 2009-11-04    Source: dtu    ID: 250691    Original MXD