Conventional dynamic positioning (DP) systems on larger ships compensate primarily for slowly time-varying environmental forces. In doing so, they use wave filtering to prevent the DP from compensating for the first-order wave motions. This reduces wear and tear of the thruster and machinery systems. In the case of smaller autonomous vessels, the oscillatory motion of the vessel in waves may be more significant, and the thrusters can be more dynamic. This motivates the use of DP to compensate for horizontal wave motions in certain operations. We study the design of DP control and filtering algorithms that employ acceleration feedback, roll damping, wave motion prediction, and optimal tuning. Six control strategies are compared in the case study, which is a small autonomous surface vessel where the critical mode of operation is launch and recovery of an ROV through the wave zone.

中文翻译：

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小型自主船舶动态定位中的波浪运动补偿

大型船舶上的传统动态定位 (DP) 系统主要补偿缓慢时变的环境力。在这样做时，他们使用波滤波来防止 DP 补偿一阶波浪运动。这减少了推进器和机械系统的磨损。在较小的自主船舶的情况下，船舶在波浪中的振荡运动可能更显着，并且推进器可能更具动态性。这促使使用 DP 来补偿某些操作中的水平波浪运动。我们研究了采用加速度反馈、横摇阻尼、波浪运动预测和优化调整的 DP 控制和滤波算法的设计。案例研究中比较了六种控制策略，