2. DPS CONFIGURATION
As shown in Figure 2, the developed DPS calculates the commands of a total control force and a total control moment for stably holding, at a control command generator, the offshore platform at a specified position under disturbed oceanographic and meteorological phenomena, and also calculates a control distribution command to each thruster capable of minimizing the evaluation function such as energy at the thruster control force distributor within the range of limiting conditions of the control thruster (limitations of capacity, swing angle, mounting position, quantity).
Fig. 2 DPS Block Diagram
The major purpose of the DPS control design by the H∞control is to suppress the affection by disturbed oceanographic and meteorological phenomena such as wind and tidal current and to adjust the thruster to as low a level as possible.
