Abstract This review presents a systematic summary of the state-of-the-art development of technological solutions, modeling, and control strategies of thruster-assisted position mooring (TAPM) systems. The survey serves as a starting point for exploring automatic control and real-time monitoring solutions proposed for TAPM systems. A brief historical background of the mooring systems is given. The kinematics and a simplified kinetic control-design model of a TAPM system are derived in accordance with established control methods, including a quasistatic linearized model for the restoring and damping forces based on low-frequency horizontal motions of the vessel. In addition, another two mooring line models, i.e., the catenary equation and the finite element method model, are presented for the purpose of higher-fidelity simulations. The basic TAPM control strategies are reviewed, including heading control, surge-sway damping, roll–pitch damping (for semisubmersibles), and line break detection and compensation. Details on the concepts of setpoint chasing for optimal positioning of a vessel at the equilibrium position are discussed based on balancing the mooring forces with the environmental loads and avoiding mooring line failure modes. One method for setpoint chasing is the use of a structural reliability index, accounting for both mean mooring line tensions and dynamic effects. Another method is the use of a lowpass filter on the position of the vessel itself, to provide a reference position. The most advanced method seems to be the use of a fault-tolerant control framework that, in addition to direct fault detection and isolation in the mooring system, incorporates minimization of either the low-frequency tensions in the mooring lines or minimization of the reliability indices for the mooring lines to select the optimal directions for the setpoint to move. A hybrid (or supervisory switching) control method is also presented, where a best-fit control law and observer law are automatically selected among a bank of control and observer algorithms based on the supervision of the sea-state and automatic switching logic.

中文翻译：

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推进器辅助定位系泊系统建模与控制综述

摘要 本综述系统总结了推进器辅助位置系泊 (TAPM) 系统的技术解决方案、建模和控制策略的最新发展。该调查是探索为 TAPM 系统提出的自动控制和实时监控解决方案的起点。给出了系泊系统的简要历史背景。TAPM 系统的运动学和简化的动力学控制设计模型是根据既定的控制方法推导出来的，包括基于船舶低频水平运动的恢复力和阻尼力的准静态线性化模型。此外，还提出了另外两个系泊缆模型，即悬链线方程和有限元方法模型，以用于更高保真度的模拟。回顾了基本的 TAPM 控制策略，包括航向控制、喘振摇摆阻尼、横滚俯仰阻尼（用于半潜器）以及断线检测和补偿。基于平衡系泊力与环境载荷和避免系泊缆线故障模式，讨论了关于在平衡位置最佳定位船舶的设定点追踪概念的详细信息。设置点追踪的一种方法是使用结构可靠性指数，考虑平均系泊索张力和动力效应。另一种方法是在容器本身的位置上使用低通滤波器，以提供参考位置。最先进的方法似乎是使用容错控制框架，除了系泊系统中的直接故障检测和隔离之外，结合最小化系泊缆绳中的低频张力或最小化系泊缆绳的可靠性指标，以选择设定点移动的最佳方向。还提出了一种混合（或监督切换）控制方法，其中基于海况和自动切换逻辑的监督，在一组控制和观测器算法中自动选择最适合的控制律和观测器律。