A comprehensive implementation and simulation of a Dynamic Positioning (DP) system for marine vessels, developed as part of the TMR4240 Marine Control Systems course at NTNU. The project leverages MATLAB/Simulink and the Marine Systems Simulator (MSS) toolbox to model, design, and test advanced control strategies, showcasing advanced control system design and implementation.
The DP system is designed to maintain a vessel's position and heading under various environmental conditions (wind, waves, and current). Key components include:
- PID Controller: For precise trajectory tracking and station-keeping.
- Observers: Implementation of Extended Kalman Filter (EKF) and Nonlinear Passive Observer (NPO) for state estimation.
- Thrust Allocation: Optimization using quadratic programming to distribute forces across multiple thrusters.
- Simulation of vessel dynamics in 6 degrees of freedom (DOF).
- Environmental load modeling for wind, current, and waves.
- Robust observer design and fault-tolerance testing.
- Comprehensive 4-corner DP tests and capability plots.
models/: Simulink models for vessel dynamics, environmental loads, and control systems.scripts/: MATLAB scripts for observer tuning, thrust allocation, and simulation analysis.results/: Output plots and performance metrics from simulations.documentation/: Detailed report and references.