Construction crane vessels make use of dynamic positioning (DP) systems during the installation and removal of offshore structures to maintain the vessel's position. Studies have reported cases of instability of DP systems during offshore operation caused by uncertainties, such as mooring forces. DP “robustification” for heavy lift operations, i.e., handling such uncertainties systematically and with stability guarantees, is a long-standing challenge in DP design. A new DP method, composed by an observer and a controller, is proposed to address this challenge, with stability guarantees in the presence of uncertainties. We test the proposed method on an integrated cranevessel simulation environment, where the integration of several subsystems (winch dynamics, crane forces, thruster dynamics, fuel injection system etc.) allow a realistic validation under a wide set of uncertainties.

Position control for heavy-lift construction vessels is crucial for safe operation during offshore construction. During the various phases of a typical offshore construction assignment, considerable changes in the dynamics of the crane-vessel system occur. Operational hazard was reported if such interchanging dynamics are not properly handled. However, to date and the best of our knowledge, no systematic control solution is reported considering multiphase offshore construction scenarios. This article proposes a switched dynamical framework to model the interchanging phases and to formulate a comprehensive position control solution for heavy-lift vessels. Stability and robustness against modeling imperfections and environmental disturbances are analytically assessed. The effectiveness of the solution is verified on a realistic heavy-lift vessel simulation platform; it is shown that the proposed switched framework sensibly improves accuracy and reduces hazard compared with a nonswitched solution designed for only one phase of the construction scenario.

Offshore platforms and windmills are constructed by assembling huge mechanical structures transported by heavy lift vessels. The construction process comprises two interconnected operations, the dynamic positioning (DP) of the vessel and the lifting of heavy loads. The DP system is commonly designed and tuned for the case that there is no load or for the case that the heavy load is free-hanging (mode 1). During the transition from the free-hanging to the case that the vessel is connected to a heavy load which is mounted to the platform (mode 2), the DP system may not be able to preserve the position stability of the vessel, jeopardizing human and system safety. The goal of this work is to design an intelligent monitoring system for the early detection of the transition between the two construction modes by adopting a nonlinear state estimation approach. Simulation results are used for illustrating the effectiveness of the proposed construction mode detection system.

Offshore structures with large mass are installed and removed by heavy lift vessels. During offshore constructions, two safety-critical interconnected operations take place, the dynamic positioning of the vessel and the lifting of the heavy structure by an immovable boom crane on the vessel. Existing studies on offshore boom crane control either neglect the structure (load) dynamics in sway and the vessel movement, or consider the boom angle of the crane controllable. In this paper, we present a control scheme for underactuated offshore structure, taking into consideration the impact of the dynamic positioning of the vessel on the physical load model. The proposed control scheme is designed following a backstepping control approach using command filtering to generate virtual control signals and their derivatives avoiding the analytic differentiation. Simulation results are obtained by applying the control scheme in a dynamic positioned vessel-load model showing that the controller is able to stablize the load position during the vessel dynamic positioning.

Heavy lift crane vessels play an important role in offshore installations. Previous studies have shown that position control systems for these vessels can cause unstable positioning behavior during offshore construction assignments under specific conditions, e.g., change of environmental loads. Some control methods, such as crane force feedforward to the controller or the estimator, have been developed to improve the stability of the position control systems. However, these methods depend on the accurate estimation of the crane force and fast reaction of thrusters, which are difficult to obtain under working conditions. To make the positioning system stable, and compensate the controller for the changing crane stiffness and the systems onboard, two methods will be provided. One is to increase the flexibility of the system, while the other one is to increase the robustness. Two control methods, adaptive PID and H-infinity, are adopted and the results are compared. During simulations, the two controllers can dispose of crane modeling error and time delay of thrusters. Adaptive PID has a smaller variance under higher wind and wave load, while H-infinity controller has a larger clearance with the platform.