Author(s)

Helio Mitio Morishita, Hernani Luiz Brinati & Sylvio Henrique Sa Correa

Abstract

—The mathematical modelling of a dynamic positioned vehicle is analysed. The basic equations for the slow vessel dynamics in the horizontal plane are presented, followed by a brief description of the models adopted to represent the hydrodynamic reaction and environmental forces. A more detailed analysis is dedicated to the forces imposed on the vehicle by the riser The relative importance of the term is evaluation in a static forces balance The thruster system force is evaluated based on the environmental forces and the thruster performance degradation due to interaction effects. The vessel dynamics is simulated, with a PID control for the thruster forces and moment in order to evaluation if thruster system was properly designed.

Keywords