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Analysis of marine risers subjected to shoal/deep water in the installation process

Wang Yikun, Luo Songxiang, Yang Mo, Qin Tao, Zhao Jing, Yu Gang

Polish Maritime Research

2022

nr 2

43--54

The dynamics of the installation process of marine risers subjected to shoal/deep seawater is studied. The riser is assumed to be a cantilevered Euler‒Bernoulli beam. The upper end of the riser is clamped on the vessel or the drilling platform. The lower end of the riser is connected to the Blowout Preventer Stack (BOPs) and Lower Marine Risers Package (LMRP). The lateral fluid forces induced by the sea wave and sea current are introduced into the governing equations of motion. The lateral displacement and stress distributions of the riser are obtained by solving the governing equation of the riser via Galerkin’s discretisation scheme and a fourth-order Runge‒Kutta algorithm. The results indicate that the riser exhibits different behaviours under various depths because of the different distributions of the flow velocity ranging from the sea surface to the seabed. In the case of shoal water, the dynamics of the riser are dominated by the sea wave, while in the case of deep water it is affected mainly by the sea current velocity and sea surface wind velocity.

Method of cooperative formation control for underactuated USVs based on nonlinear backstepping and cascade system theory

Dong Zaopeng, Liu Yang, Wang Hao, Qin Tao

Polish Maritime Research

2021

nr 1

149--162

This paper presents a method for the cooperative formation control of a group of underactuated USVs. The problem of formation control is first converted to one of stabilisation control of the tracking errors of the follower USVs using system state transformation design. The followers must keep a fixed distance from the leader USV and a specific heading angle in order to maintain a certain type of formation. A global differential homeomorphism transformation is then designed to create a tracking error system for the follower USVs, in order to simplify the description of the control system. This makes the complex formation control system easy to analyse, and allows it to be decomposed into a cascaded system. In addition, several intermediate state variables and virtual control laws are designed based on nonlinear backstepping, and actual control algorithms for the follower USVs to control the surge force and yaw moment are presented. A global system that can ensure uniform asymptotic stability of the USVs’ cooperative formation control is achieved by combining Lyapunov stability theory and cascade system theory. Finally, several simulation experiments are carried out to verify the validity, stability and reliability of our cooperative formation control method.