Method of controlling the position of moored marine vessels

摘要

The present invention provides a method of controlling the position of a spread moored marine vessel (1). In particular, the method of the present invention substantially maintains the position of a spread moored vessel (1) in, or on the boundary of a target area (2) using thruster assistance. This is done by monitoring the position of the vessel and when the vessel (1) is positioned outside of the target area (2) applying a position correcting thrust (7) to the vessel (1) in the direction of an aim position located on the boundary of the target area (2) and when the vessel (1) is positioned within the target area (2) reducing the position correcting thrust (7) applied to the vessel (1) or maintaining the position correcting thrust (7) applied to the vessel (1) at zero. The present invention may also apply a damping thrust (7) to the vessel (1) in order to damp the positional variation of the vessel (1). The present invention also provides a thruster assisted mooring system for a spread moored vessel (1) operating according to the method of the present invention.

主权项

1. A method of substantially maintaining the position of a spread moored vessel in, or on the boundary of, a target area using thruster assistance comprising:
monitoring the position of the vessel and: when the vessel is positioned outside of the target area applying a position correcting thrust to the vessel to move the vessel towards the target area; and when the vessel is positioned within the target area reducing the position correcting thrust applied to the vessel or maintaining the position correcting thrust applied to the vessel at substantially zero; wherein the method is implemented using at least one ID control algorithm wherein the integral term of the at least one ID control algorithm is calculated towards an aim position on the boundary of the target area when the vessel is outside the target area and is decayed when the vessel is positioned within the target area.