Modelling and Control of Offshore Marine Pipeline during Pipelay

Jensen, Gullik A.; Transeth, Aksel Andreas; Nguyen, Tu Duc

doi:10.3182/20080706-5-kr-1001.02544

Cited by 7 publications

(5 citation statements)

References 8 publications

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“…The static configuration of the robotic pipe with no bending stiffness is plotted on top of the natural catenary of in Figure 6, where the two configurations are seen to overlap well. This system is shown to be stable and applied in a DP application in [37].…”

Section: (Q)mentioning

confidence: 98%

“…This has motivated a nonlinear dynamic modeling approach for offshore pipelaying for control applications based on robotics [35,36]. Following [37], the pipe is modeled as hyper redundant planar robot manipulator of i links of length l i with point masses p m i , and bending stiffness represented by torsional springs in the joints, see Figure 5. The model is linked to the pipelay vessel model through tension.…”

Section: A Robotic Pipe Modelmentioning

confidence: 99%

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Mathematical Models for Model-Based Control in Offshore Pipelay Operations

Jensen

Fossen

2009

Volume 3: Pipeline and Riser Technology

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This paper considers mathematical models for model-based controller design in offshore pipelay operations. Three classes of models for control design are discussed, real-world models suitable for controller design verification, controller and observer models which are used on-line in the control system implementation. The control application place requirements on the model with respect to the computational time, dynamic behavior, stability and accuracy. Models such as the beam model, two catenary models, as well as general finite element (FE) models obtained from computer programs were not able to meet all of the requirements, and two recent dynamic models designed for control are presented, which bridge the gap between the simple analytical and more complex FE models. For completeness, modeling of the pipelay vessel, stinger and roller interaction, soil and seabed interaction and environmental loads are discussed.

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Section: (Q)mentioning

confidence: 98%

Section: A Robotic Pipe Modelmentioning

confidence: 99%

Mathematical Models for Model-Based Control in Offshore Pipelay Operations

Jensen

Fossen

2009

Volume 3: Pipeline and Riser Technology

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“…Advanced pipeline models are available, such as the nonlinear dynamic finite strain model presented in [37]. However, simpler models such as the robot-equation-based model presented in [38] are better suited for model-based feedback control in real-time. In the accompanying paper [24], mathematical models used for pipelay design and simulation are considered for control applications.…”

Section: Motion Control Issuesmentioning

confidence: 99%

Offshore Pipelay Operations From a Control Perspective

Jensen

Breivik

Fossen

2009

Volume 3: Pipeline and Riser Technology

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This paper considers the problem of installing offshore pipelines by means of pipelay vessels from a control perspective. Specifically, the paper is divided into two main parts, where the first part gives a thorough introduction to the fundamentals of pipelay operations and the challenges and possibilities associated with such operations. The second part then suggests how pipelay operations can be further automated by augmenting the manually-operated dynamic positioning (DP) systems of today with sophisticated guidance functionality that may improve operational precision and safety by relying on advanced mathematical models.

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“…The controller designing with the uncertain nonlinear system has become a very active field of the control fields [2][3] [4].Many control methods have been proposed, such as adaptive control [5][6] [7], backstepping control [8,9], predictive control [10] [11],and sliding mode control etc [12] .…”

Section: Introductionmentioning

confidence: 99%

Observer-based nonsingular terminal sliding mode controller design

Xie¹

2012

2012 24th Chinese Control and Decision Conference (CCDC)

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This is the paper style requirement for the Chinese Control and Decision Conference. In this paper, a new observer-based nonsingular terminal sliding mode controller is proposed for a spin missile system with inertia uncertainty and external disturbance. By designing the nonlinear disturbance observer to observe the uncertainties and disturbance of the missile system, the chattering of nonsingular terminal sliding mode control is reduced. This controller can make the states not only reach the manifold in finite time, but also obtain a faster convergence and a better tracking precision. The global stability of the closed loop system is guaranteed and the singularity problem associated with conventional terminal sliding mode is avoided. The simulations verified the effectiveness of the proposed method in the paper.

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Modelling and Control of Offshore Marine Pipeline during Pipelay

Cited by 7 publications

References 8 publications

Mathematical Models for Model-Based Control in Offshore Pipelay Operations

Mathematical Models for Model-Based Control in Offshore Pipelay Operations

Offshore Pipelay Operations From a Control Perspective

Observer-based nonsingular terminal sliding mode controller design

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