Fault monitoring and fault recovery control for position-moored vessels

Shaoji Fang; Mogens Blanke

International Journal of Applied Mathematics and Computer Science (2011)

  • Volume: 21, Issue: 3, page 467-478
  • ISSN: 1641-876X

Abstract

top
This paper addresses fault-tolerant control for position mooring of a shuttle or floating production storage and offloading vessels. A complete framework for fault diagnosis is presented. A loss of a sub-sea mooring line buoyancy element and line breakage are given particular attention, since such failures might cause high-risk abortion of an oil-loading operation. With significant drift forces from waves, non-Gaussian elements dominate forces and the residuals designed for fault diagnosis. Hypothesis testing is designed using dedicated change detection for the type of distribution encountered. A new position recovery algorithm is proposed as a means of fault accommodation in order to keep the mooring system in a safe state, despite faults. The position control is shown to be capable of accommodating serious failures and preventing breakage of a mooring line, or a loss of a buoyancy element, from causing subsequent failures. Properties of the detection and fault-tolerant control algorithms are demonstrated by high fidelity simulations.

How to cite

top

Shaoji Fang, and Mogens Blanke. "Fault monitoring and fault recovery control for position-moored vessels." International Journal of Applied Mathematics and Computer Science 21.3 (2011): 467-478. <http://eudml.org/doc/208061>.

@article{ShaojiFang2011,
abstract = {This paper addresses fault-tolerant control for position mooring of a shuttle or floating production storage and offloading vessels. A complete framework for fault diagnosis is presented. A loss of a sub-sea mooring line buoyancy element and line breakage are given particular attention, since such failures might cause high-risk abortion of an oil-loading operation. With significant drift forces from waves, non-Gaussian elements dominate forces and the residuals designed for fault diagnosis. Hypothesis testing is designed using dedicated change detection for the type of distribution encountered. A new position recovery algorithm is proposed as a means of fault accommodation in order to keep the mooring system in a safe state, despite faults. The position control is shown to be capable of accommodating serious failures and preventing breakage of a mooring line, or a loss of a buoyancy element, from causing subsequent failures. Properties of the detection and fault-tolerant control algorithms are demonstrated by high fidelity simulations.},
author = {Shaoji Fang, Mogens Blanke},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {fault diagnosis; fault-tolerant control; fault recovery; position mooring; non-Gaussian change detection},
language = {eng},
number = {3},
pages = {467-478},
title = {Fault monitoring and fault recovery control for position-moored vessels},
url = {http://eudml.org/doc/208061},
volume = {21},
year = {2011},
}

TY - JOUR
AU - Shaoji Fang
AU - Mogens Blanke
TI - Fault monitoring and fault recovery control for position-moored vessels
JO - International Journal of Applied Mathematics and Computer Science
PY - 2011
VL - 21
IS - 3
SP - 467
EP - 478
AB - This paper addresses fault-tolerant control for position mooring of a shuttle or floating production storage and offloading vessels. A complete framework for fault diagnosis is presented. A loss of a sub-sea mooring line buoyancy element and line breakage are given particular attention, since such failures might cause high-risk abortion of an oil-loading operation. With significant drift forces from waves, non-Gaussian elements dominate forces and the residuals designed for fault diagnosis. Hypothesis testing is designed using dedicated change detection for the type of distribution encountered. A new position recovery algorithm is proposed as a means of fault accommodation in order to keep the mooring system in a safe state, despite faults. The position control is shown to be capable of accommodating serious failures and preventing breakage of a mooring line, or a loss of a buoyancy element, from causing subsequent failures. Properties of the detection and fault-tolerant control algorithms are demonstrated by high fidelity simulations.
LA - eng
KW - fault diagnosis; fault-tolerant control; fault recovery; position mooring; non-Gaussian change detection
UR - http://eudml.org/doc/208061
ER -

References

top
  1. Aamo, O. and Fossen, T. (2001). Finite element modelling of moored vessels, Mathematical and Computer Modelling of Dynamical Systems 7(1): 47-75. Zbl1005.93006
  2. Berntsen, P., Aamo, O. and Leira, B. (2006). Dynamic positioning of moored vessels based on structure reliability, Proceedings of the 45th IEEE Control and Decision Conference, San Diego, CA, USA, pp. 5906-5911. 
  3. Berntsen, P., Aamo, O. and Leira, B. (2008a). Structural reliability-based control of moored interconnected structures, Control Engineering Practice 16(4): 495-504. Zbl1152.93466
  4. Berntsen, P., Aamo, O. and Leira, B. (2008b). Thruster assisted position mooring based on structural reliability, International Journal of Control 81(9): 1408-1416. Zbl1152.93466
  5. Blanke, M. (2005). Diagnosis and fault-tolerant control for ship station keeping, Proceedings of the 13th Mediterranean Conference on Control and Automation, Limassol, Cyprus, pp. 1379-1384. 
  6. Blanke, M., Kinnaert, M., Lunze, J. and Staroswiecki, M. (2006). Diagnosis and Fault-tolerant Control, 2nd Edn., Springer, Berlin/Heidelberg. Zbl1126.93004
  7. Blanke, M. and Staroswiecki, M. (2006). Structural design of systems with safe behaviour under single and multiple faults, Proceedings of the IFAC Symposium SAFEPROCESS 2006, Beijing, PR China, pp. 474-479. 
  8. DNV (2008a). Dynamic positioning systems, Rules for Classification of Ships, Part 6, Chapter 7, Det Norsk Veritas, Oslo. 
  9. DNV (2008b). Positon mooring, DNV-OS-E301, Offshore Standard, Det Norsk Veritas, Oslo. 
  10. Fossen, T.I. (2002). Marine Control System, Marine Cybernetics, Trondheim. 
  11. Gao, Z. and Moan, T. (2007). Sensitivity study of extreme value and fatigue damage of line tension in mooring system with one line failure under varying annual environmental condition, Proceedings of the 17th International Offshore and Polar Engineers Conference (ISOPE), Lisbon, Portugal, pp. 3753-3760. 
  12. Garza-Rios, L.O. and Bernitsas, M.M. (1996). Analytical expressions of the stability and bifurcation boundaries for general spread mooring systems, Journal of Ship Research 40(4): 337-350. 
  13. Kay, S. (1998). Fundamentals of Statistical Signal Processing, Volume 2: Detection Theory, Prentice Hall, Upper Saddle River, NJ. 
  14. Kim, M. and Dick, K. (1989). Slowly-varying wave drift forces in short-crested irregular seas, Applied Ocean Research 11(1): 2-18. 
  15. Laursen, M., Blanke, M. and Dustegor, D. (2008). Fault diagnosis of a water for injection system using enhanced structural isolation, International Journal of Applied Mathematics and Computer Science 18(4): 593-603, DOI: 10.2478/v10006-008-0052-5. Zbl1156.93371
  16. MARINTEK (2003). RIFLEX User Manual, MARINTEK report no. 519619, Trondheim. 
  17. Mavrakos, S., Papazoglou, V., Triantafyllou, M. and Hatjigeorgiou, J. (1996). Deep water mooring dynamics, Marine Structure 9(2): 181-209. 
  18. Næss (1986). The statistical distribution of the second order slowly varying forces and moments, Applied Ocean Research 8(2): 110-118. 
  19. Nguyen, D., Blanke, M. and Sørensen, A. (2007). Diagnosis and fault-tolerant control for thruster-assisted position mooring, Proceedings of the IFAC Conference on Control Applications in Marine Systems, CAMS'2007, Bol, Croatia, DOI: 10.3182/20070919-3-HR-3904.00051. 
  20. Nguyen, D. and Sørensen, A. (2007). Setpoint chasing for thruster-assisted position mooring, Proceeding of the 26th International Conference of Ocean, Offshore and Arctic Engineering (OMAE), San Diego, CA, USA, pp. 553-560. 
  21. Nguyen, D. and Sørensen, A. (2009). Switched control for thruster-assisted position mooring, Control Engineering Practice 17(9): 985-994. 
  22. Nguyen, D.T. and Blanke, M. (2009). Fault-tolerant positioning control for offshore vessels with thruster and mooring actuation, Technical report, Norwegian University of Technology and Science, CeSOS, Trondheim. 
  23. Poulsen, N.K. and Niemann, H. (2008). Active fault diagnosis based on stochastic tests, International Journal of Applied Mathematics and Computer Science 18(4): 487-496, DOI: 10.2478/v10006-008-0043-6. Zbl1155.93427
  24. Strand, J., Sørensen, A. and Fossen, T. (1998). Design of automatic thruster assisted position mooring systems for ships, Modelling, Identification and Control 19(2): 61-75. Zbl0967.93534
  25. Tomera, M. (2010). Nonlinear controller design of a ship autopilot, International Journal of Applied Mathematics and Computer Science 20(2): 271-280, DOI: 10.2478/v10006010-0020-8. Zbl1196.93014
  26. Wang, K. and Xu, W. (2008). Study of wave drift forces affecting FPSO systems, Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 29(12): 1261-1265. 
  27. Wang, Y.-G. and Tan, J.-H. (2008). Markov modeling for slow drift oscillations of moored vessels in irregular waves, Chuan Bo Li Xue/Journal of Ship Mechanics 12(3): 368-376. 
  28. Witkowska, A., Tomera, M. and Śmierzchalski, R. (2007). A backstepping approach to ship course control, International Journal of Applied Mathematics and Computer Science 17(1): 73-85, DOI: 10.2478/v10006-007-0007-2. Zbl1122.93351

NotesEmbed ?

top

You must be logged in to post comments.

To embed these notes on your page include the following JavaScript code on your page where you want the notes to appear.

Only the controls for the widget will be shown in your chosen language. Notes will be shown in their authored language.

Tells the widget how many notes to show per page. You can cycle through additional notes using the next and previous controls.

    
                

                
Note: Best practice suggests putting the JavaScript code just before the closing </body> tag.