Construction crane vessels make use of dynamic positioning (DP) systems during the installation and removal of offshore structures to maintain the vessel's position. Studies have reported cases of instability of DP systems during offshore operation caused by uncertainties, such as mooring forces. DP “robustification” for heavy lift operations, i.e., handling such uncertainties systematically and with stability guarantees, is a long-standing challenge in DP design. A new DP method, composed by an observer and a controller, is proposed to address this challenge, with stability guarantees in the presence of uncertainties. We test the proposed method on an integrated cranevessel simulation environment, where the integration of several subsystems (winch dynamics, crane forces, thruster dynamics, fuel injection system etc.) allow a realistic validation under a wide set of uncertainties.

中文翻译：

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强化重型起重作业起重机船舶的动态定位


建筑起重船在海上结构物的安装和拆除过程中利用动态定位 (DP) 系统来保持船舶的位置。研究报告了在海上作业过程中由于系泊力等不确定因素引起的动态定位系统不稳定的情况。重型起重作业的动态定位“稳健化”，即系统地处理此类不确定性并保证稳定性，是动态定位设计中长期存在的挑战。提出了一种由观察者和控制器组成的新动态规划方法来应对这一挑战，并在存在不确定性的情况下保证稳定性。我们在集成起重机船舶仿真环境中测试了所提出的方法，其中多个子系统（绞车动力学、起重机力、推进器动力学、燃油喷射系统等）的集成允许在广泛的不确定性下进行实际验证。