Dynamic Positioning system of a vessel with conventional propulsion configuration: Modeling and simulation

A simulation model of the DP system for a conventional naval configuration is presented. A complete mathematical description of the dynamically positioned vessel is developed, including distinct models for low- and wave-frequency ship motions, slowly-varying wind and wave forces, and mechanical constraints on the actuators. A specific allocation logic is devised for such a configuration, by using a linear hydrodynamic model of the propeller-rudder interaction. An anti-windup control-loop correction is designed to improve the DP controller performance. Eventually, simulation results are described to illustrate the effectiveness of the DP system