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This study presents a dynamic positioning (DP) control framework for a supporting craft designed to assist in the installation of multi-bucket jacket foundations (MBJFs)-based wind turbines. Firstly, ...a high-fidelity numerical model of the motion system is established, incorporating aerodynamic, hydrodynamic, and thruster-based forces. Then, a servo-type control system consisting of an inner-loop state feedback controller and an outer-loop positioning regulator is developed to ensure system stability and zero steady-state error. An overactuated thrust allocation strategy based on regularized least-squares optimization is employed to minimize force variation. Simulation results demonstrate stable and well-damped step responses, smooth convergence to reference positions, and robust station-keeping under realistic metocean conditions. The results confirm the feasibility of the proposed DP system for supporting MBJF turbine installation operations.続きを見る
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