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This paper presents the experimental results on the dynamics of a thruster assisted mooring system. Moorings are used to maintain the position of a floating platform against quasi-constant external fo...rces induced by current and wind, and thrusters control slow drift oscillation. The LQI (linear quadratic with integral) control system was adopted to prevent slow drift oscillation. Control of motions in the wave frequency region was ignored because the amplitude of those motions is smaller than those of the slow drift oscillation and enormous thruster power is needed to control them. The controlled results were compared with the non-controlled ones and performance of the LQI control system is discussed.続きを見る
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