JORDAN Mario Alberto
congresos y reuniones científicas
Physical Modeling of a Three-Tank Floating Platform in Plane Motion
DUGA, G.; JORDAN, MARIO; ORQUEDA, O.; FALCO, F.
Congreso; VII Reunión de Procesamiento de la Información y Control (VII RPIC); 1997
VII Reunión de Procesamiento de la Información y Control (VII RPIC)
In this work the phases for physical modeling of a scale prototype of semisubmergible floating platform in stochastic environment are presented. Unlike to common designs, this prototype has incorporated actuators (propulsion pumps and ballast pumps) for dynamic positioning and orienting of the platform in six degrees of freedom, namely: yaw, pitch, roll, sway, surge and heave. This allows the system to be completely controllable in prespecified operations and to regulate around reference positions in stochastic environmental disturbances. The resulting space-state model is highly nonlinear mainly due to the change of the mass center with the states in motion. Finally several plane motions are analyzed by simulation.