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1

Modern dynamic positioning (DP) system of ORP ‘Kormoran’ — class mine destroyer

Zalewski P., Haberek R., Chmieliński M.

Zeszyty Naukowe Akademii Marynarki Wojennej

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2018

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R. 59 nr 4 (215)

143--155

EN

The paper presents the dynamic positioning system (DP), particularly its thruster allocation model, designed for ORP ‘Kormoran’, a Polish mine destroyer built for the Polish Navy in Remontowa Shipbuilding S.A. in Gdańsk. The ORP ‘Kormoran’ ship is the newest and best equipped minehunter ship in Europe. The main task of the new Polish mine destroyer is to search for, classify, identify and combat marine mines and improvised underwater explosives, recognize waterways, transport mines, deploy mines and provide remote control of self-propelled anti-mine platforms. The dynamic positioning control system of the ship presented in the article was constructed by Autocomp Management Ltd. from Szczecin, the only in Poland and one of the few producers of dynamic ship positioning systems in the world.

PL

W artykule zaprezentowano system dynamicznego pozycjonowania statku (DP) zaprojektowany dla ORP „Kormoran”, polskiego niszczyciela min zbudowanego dla Marynarki Wojennej RP w Gdańskiej Stoczni Remontowej Shipbuilding S.A. Okręt ORP „Kormoran” to najnowszy i najlepiej obecnie wyposażony okręt przeciwminowy w Europie. Głównym zadaniem nowego polskiego niszczyciela min jest poszukiwanie, klasyfikacja, identyfikacja i zwalczanie min morskich oraz improwizowanych podwodnych ładunków wybuchowych, rozpoznanie torów wodnych, przeprowadzanie jednostek przez akweny zagrożenia minowego, stawianie min oraz zdalne sterowanie samobieżnymi platformami przeciwminowymi. Przedstawiony w artykule system dynamicznego pozycjonowania statku został wykonany przez Autocomp Management Sp. z o.o. ze Szczecina, jedynego w Polsce i jednego z nielicznych na świecie producentów systemów dynamicznego pozycjonowania statku.

2

Constraints in allocation of thrusters in a DP simulator

Zalewski P.

Zeszyty Naukowe Akademii Morskiej w Szczecinie

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2017

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nr 52 (124)

45--50

EN

Vessels conducting dynamic positioning (DP) operations are usually equipped with thruster configurations that enable the generation of force and torque. Some thrusters in these configurations are deliberately redundant to minimize consequences of thruster failures, enable overactuated control and increase the safety in operation. On such vessels, a thrust allocation system must be used to distribute the control actions determined by the DP controller among the thrusters. The optimal allocation of the thrusters’ settings in DP systems is a problem that can be solved by convex optimization methods depending on the criteria and constraints used. This paper presents a quadratic programming (QP) method, adopted in a DP control model, which is being developed in Maritime University of Szczecin for ship simulation purposes.

3

Convex optimization of thrust allocation in a dynamic positioning simulation system

Zalewski P.

Zeszyty Naukowe Akademii Morskiej w Szczecinie

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2016

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nr 48 (120)

58--62

EN

Vessels conducting dynamic positioning (DP) operations are usually equipped with thruster configurations that enable the generation of resultant force and moment in any direction. These configurations are deliberately redundant in order to reduce the consequences of thruster failures and increase the safety. On such vessels a thrust allocation system must be used to distribute the control actions determined by the DP controller among the thrusters. The optimal allocation of thrusters’ settings in DP systems is a problem that can be solved by several convex optimization methods depending on criteria and constraints used. The paper presents linear programming (LP) and quadratic programming (QP) methods adopted in the DP control model which is being developed at the Maritime University of Szczecin for ship simulation purposes.

4

Rozdział mocy na pędniki bezzałogowego statku głębinowego"Ukwiał"

Garus J.

Zeszyty Naukowe Politechniki Świętokrzyskiej. Mechanika

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2004

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Z. 80

149-154

PL

W artykule przedstawiono sposób rozdziału mocy w układzie napędowym zdalnie sterowanego statku głębinowego typu "Ukwiał". Do rozwiązania zadania dystrybucji naporów na poszczególne pędniki wykorzystano metodę opartą o ortogonalną macierz Walsha. Opracowano algorytm rozdziału mocy dla w pełni sprawnego układu napędowego, jak również dla przypadku awarii jednego z pędników.

EN

In the paper a method of for underwater vehicle's is presented. To finding of an effective solution a method basis on the orthogonal Walsh matrix have been used. The algorithm has been worked out either for full operating power transmission system or a case of the thruster failure.

5

Optimization of Thrust Allocation in the Propulsion System of an Underwater Vehicle

Garus J.

International Journal of Applied Mathematics and Computer Science

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2004

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Vol. 14, no 4

461-467

EN

The paper addresses methods of thrust distribution in a propulsion system for an unmanned underwater vehicle. It concentrates on finding an optimal thrust allocation for desired values of forces and moments acting on the vehicle. Special attention is paid to the unconstrained thrust allocation. The proposed methods are developed using a configuration matrix describing the layout of thrusters in the propulsion system. The paper includes algorithms of thrust distribution for both faultless work of the propulsion system and a failure of one of the thrusters. Illustrative examples are provided to demonstrate the effectiveness and correctness of the proposed methods.