JORDAN Mario Alberto
congresos y reuniones científicas
Nonlinear Modeling of a Moored Floating Platform in Stochastic Environment
JORDAN, MARIO; DUGA, G.
Congreso; IEEE American Control Conference (ACC); 1998
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 state-space model is highly nonlinear mainly due to the change of the mass center with the states in motion. A nonlinear model of the environment is proposed, that takes into account high and low frequency components of the waves separately. Finally several plane motions are analyzed by simulation.