Ukhin O. Automation of robust control processes of dynamic positioning of the drillship taking into account functional limitations

Object - dynamic processes of robust stabilization of drillship in dynamic positioning mode based on systems with variable structure of feedbacks taking into account functional limitations. Purpose - process automation of robust control of drillship in dynamic positioning mode by forming the optimal (suboptimal) stabilization trajectories taking into account functional limitations based on systems with variable structure of feedbacks. Methods - methods of control theory, operator view and vector-matrix analysis, the theory of optimal processes, systems with variable structure of feedbacks. Further developed synthesis procedure of optimal control of drill ship based on systems with variable structure of feedbacks by determining control actions for non-stationary multivariate ship model taking into account the external measurable perturbations. Improved: structure of the system of dynamic positioning of drillship by adding a module of the optimal trajectories; approach to the formation of the initial values of the control actions of the system by changing the higher derivative of control action at the time of the transition to the next segment of the path that avoids the appearance of singular processes. First developed: procedure for constructing optimal trajectories of the vessel in dynamic positioning mode for maximum performance with the introduction of the leading, subleading and driven coordinates; investigated and determined intervals of robustness of dynamic positioning system with variable structure of feedbacks for parametric uncertainty. Area of application: automated systems for ships dynamic positioning.