Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice

Abstract

This paper presents a development framework for dynamic positioning control systems for marine vessels in managed ice. Due to the complexity of the vessel-ice and ice-ice interactions a configurable high fidelity numerical model simulating the vessel, the ice floes, the water, and the boundaries is applied. The numerical model is validated using experimental data and coupled with a control application incorporating sensor models, control systems, actuator models, and other external dynamics to form a closed loop development platform. The ice drift reversal is simulated by moving the positioning reference frame in an elliptic trajectory, rather than moving each individual ice floe. A control plant model is argued, and a control system for managed ice is proposed based on conventional open water design methods. A case study shows that dynamic positioning in managed ice is feasible for some moderate ice conditions.

Keywords

• Dynamic positioning
• Numerical simulation
• Control design
• Nonlinear systems