Department of Engineering CyberneticsCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Andreas R. Dahl
Department of Marine TechnologyCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Tor A. Johansen
Department of Engineering CyberneticsCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Eirik Mathiesen
Kongsberg Maritime AS, Kongsberg, Norway
Michel R. Miyazaki
Department of Marine TechnologyCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Eilif Pedersen
Department of Marine TechnologyCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Roger Skjetne
Department of Marine TechnologyCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Asgeir J. Sorensen
Department of Marine TechnologyCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Laxminarayan Thorat
Department of Marine TechnologyCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Kevin K. Yum
Department of Marine TechnologyCentre for Autonomous Marine Operations and Systems, Norwegian University of Science and Technology, Trondheim, Norway
Modern marine electric propulsion vessels have many systems. These interactions and integration aspects are essential when studying a system and subsystem behavior. This is especially important when considering fault scenarios,s harsh weather, and complex marine operations. However, many simulators, including a selection presented here, study the positioning system and the power system separately. This paper proposes a simulator combining the two systems, as an extension to the marine systems simulator MATLAB/Simulink library. The intended use cases and the according design choices are presented. New subsystem models include a power-based electrical bus model and a simplified diesel engine model. Both are validated through the simulation against established models. In addition, established models for generators, electrical storage devices, thrusters, and a mean-value diesel engine model are summarized with rich references. Three case studies illustrate the multi-domain use of the simulator: 1) a semi-submersible drilling rig performing station keeping under environmental disturbances; 2) the same vessel subject to an electrical bus reconfiguration; and 3) a supply vessel with a hybrid power plant.
