KR101763062B1 - Fault-tolerant system and method of dynamic position system for floating-type offshore structure - Google Patents

Fault-tolerant system and method of dynamic position system for floating-type offshore structure Download PDF

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Publication number
KR101763062B1
KR101763062B1 KR1020160012286A KR20160012286A KR101763062B1 KR 101763062 B1 KR101763062 B1 KR 101763062B1 KR 1020160012286 A KR1020160012286 A KR 1020160012286A KR 20160012286 A KR20160012286 A KR 20160012286A KR 101763062 B1 KR101763062 B1 KR 101763062B1
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South Korea
Prior art keywords
propeller
algorithm
output
offshore structure
fault
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KR1020160012286A
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Korean (ko)
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조성락
강국진
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한국해양과학기술원
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Priority to KR1020160012286A priority Critical patent/KR101763062B1/en
Priority to PCT/KR2016/003366 priority patent/WO2017135508A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2213/00—Navigational aids and use thereof, not otherwise provided for in this class
    • B63B2213/02—Navigational aids and use thereof, not otherwise provided for in this class using satellite radio beacon positioning systems, e.g. the Global Positioning System GPS
    • B63B2755/00—

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The present invention provides a fault-tolerant system and a method of a dynamic position control system for a floating-type offshore structure, wherein even if equipment such as a generator, a controller, power supply, and a control line is individually installed and overlapped with each other, when a portion of propellers is out of order, dynamic position control can be smoothly performed through fault-tolerant algorithm of the other remaining propellers. According to the present invention, the fault-tolerant system of a dynamic position control system for a floating-type offshore structure comprises: a fault determination unit; an algorithm generation unit; and a control unit.

Description

Field of the Invention [0001] The present invention relates to a fault-tolerant active position control system and method for an offshore structure,

The present invention relates to a fault tolerant active position control system and method for a floating offshore structure such as a ship, an offshore plant, and an underwater robot.

3, in the case of a floating offshore structure 10 such as a ship, an offshore plant, or an underwater robot, a plurality of propellers 15 are used to maintain a working position or to move out of a dangerous situation And performs active position control. And a plurality of generators, a controller, a power source, and a control line are installed and operated in case a failure of some of the propeller 15 fails to exert its function.

However, this leads to complexity of the initial design due to the redundancy of each device in the active active position control, and causes a large problem in limited space utilization. There is also an additional cost for redundant equipment, which is a major obstacle to the efficiency of maintenance and operation.

Ship's dynamic position control system (Patent Application No. 10-2014-0052160)

The present invention has been proposed in order to solve the above problems. In the active position control of an offshore structure, even if each equipment is not installed in a redundant manner, when a failure occurs in a certain propeller, And to provide a fault tolerant active position control system and method for an offshore structure.

According to an aspect of the present invention,

1. An offshore structure for performing active position control using a plurality of propellers,

A failure determination unit for determining whether the propeller is faulty;

An algorithm generation unit for generating a fault tolerance algorithm of the remaining propeller when a failure of some propeller is determined; And

A controller for controlling the output and direction of the propeller according to the fault tolerant algorithm;

To provide a fault tolerant active position control system for an offshore structure.

The control unit may be operated automatically by a computer apparatus or may be manually operated by a human operator.

The failure discrimination unit discriminates whether the propeller is faulty by comparing the control signal of the control unit and the operation signal of the inverter, and if the control signal and the operation signal do not match, it is determined that the propeller is faulty.

The inverter includes a motor for propeller rotation of the propeller and a motor for azimuth.

The inverter is matched one-to-one with a plurality of propulsors to individually control each propeller. To this end, the same number of inverters as the plurality of propellers are connected one-to-one to the respective propulsors, It is connected to the propeller simultaneously.

The failure determining unit may determine the number and position of the failed propulsion system, the operating state of the failed propulsion system (whether the failed propulsion system is completely stopped or operated but differently from the control system), the current position of the offshore structure .

The algorithm generating unit calculates the relative distance and direction between the current position and the target position of the offshore structure, and generates the fault tolerant algorithm based on the relative distance and direction.

The algorithm generating unit generates one or more fault tolerant algorithms, and if more than two fault tolerant algorithms are generated, the control unit may select some or all of the fault tolerant algorithms by setting a difference to the various fault tolerant algorithms.

The fault tolerance algorithm comprises an instruction to individually set the output and direction of a normally operating throttle, in which case the fault tolerant algorithm is set such that the output and direction of the throttle are both set differently, or vice versa, And only the output and direction of the propeller are set to be the same.

If the failed propeller has stopped operating completely,

And generates a fault tolerance algorithm consisting solely of the output and direction of the remaining normally operating thrusters.

If the failed propeller is in operation but operates differently from the one controlled by the control unit,

Generating a fault tolerant algorithm including only an output and a direction of the remaining normally operating thrusters, in which case a command to stop the operation of the failed propeller is generated,

And a command for setting the output and direction of the remaining normally operating thrusters in consideration of the current output and the direction of the failed thrust engine, Generate a permissive algorithm.

The control unit determines whether to continue the operation of the propeller according to the information of the GPS or the DGPS. In this case, when the oceans return to the target position radius, The operation is stopped or the operation of the propeller is continued to maintain the position of the offshore structure or the change in the output and direction of the propeller is selectively performed.

According to another aspect of the present invention,

1. An offshore structure for performing active position control using a plurality of propellers,

The control unit generating a control signal for the inverter;

The inverter generating an actuation signal for the propeller;

Wherein the failure determination unit compares the control signal with the operation signal to determine that the propulsion unit has failed if the control signal and the operation signal do not coincide with each other;

Generating a fault tolerance algorithm of the remaining propeller by the algorithm generating unit when the fault of some propeller is determined; And

Controlling the output and direction of the propeller according to the fault tolerant algorithm;

To provide a fault tolerant active position control method for an offshore structure.

According to the present invention, when a failure occurs in some propeller of an offshore structure, smooth active position control can be performed through the fault tolerance algorithm of the remaining propeller. As a result, It is possible to obtain great economic benefits throughout the initial design, fabrication, installation and operation of complex offshore structures.

1 is a schematic operational flowchart of a fault tolerant active position control system of an offshore structure according to the present invention;
2 is a view illustrating an active position control according to an embodiment of the present invention.
Figure 3 shows a typical arrangement of a propeller for active position control of an offshore structure.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

1 is a schematic operational flowchart of a fault tolerant active position control system for an offshore structure according to the present invention. FIG. 2 is a view illustrating an active position control according to an embodiment of the present invention.

As shown in FIGS. 2 and 3, the present invention is applied to a floating offshore structure (hereinafter, referred to as 'offshore structure') 10 that performs active position control using a plurality of propellers 15, Includes the fault discrimination section 13, the algorithm generation section 14, and the control section 11. Here, the term " offshore structure 10 " is a concept including a vessel, an offshore plant, and an underwater robot.

The control unit 11 performs an integrated function for active position control of the offshore structure 10 such that the control unit 11 may be operated automatically by a computer device or manually by a human operator .

The control unit 11 generates a control signal (current or voltage) for the operation of the inverter 12 primarily. The inverter 12 operates the propeller 15 in accordance with the control signal of the controller 11. In the present invention, the inverter 12 is a concept including both a propeller-driven motor of the propeller 15 and an articulation motor, and the propeller 15 is connected to the operation of the inverter 12 with respect to the propeller- The output (speed) of which changes according to the operation of the inverter 12 or the direction of the inverter 12 related to the azimuthless motor. Therefore, the output and the direction of the propeller 15 are adjusted in accordance with the control signal of the control unit 11 in principle. Here, 'in principle' means the case where the propeller 15 does not fail and operates normally. When the propeller 15 is operated, an operating signal (current or voltage) of the inverter 12 is generated according to the operating state value thereof. Of course, if the propeller 15 is operating normally, the control signal of the controller 11 and the operating signal of the inverter 12 coincide.

On the other hand, the inverter 12 is matched one-to-one with a plurality of propellers 15 to individually control each propeller 15. This may be in the form of one-to-one connection of the same number of inverters 12 as the propeller 15 to each propeller 15 and one inverter 12 may be connected simultaneously to the plurality of propellers 15 .

In the active position control situation, the control unit 11 determines whether to continue the operation of the propeller 15 according to the information of the satellite navigation system (GPS) or the satellite navigation correction system (DGPS) 16. [ The control unit 11 receives the information of the GPS or the DGPS 16 in real time. If the offshore structure 10 detects the fact that the offshore structure 10 is out of the working position, (10) is returned to its original position by controlling the output and the direction and when the returning fact is sensed through a satellite navigation system (GPS) or a satellite navigation correction system (DGPS) . Of course, in this case, the propeller 15 may be continuously operated or the output and direction of the propeller 15 may be changed to maintain the original position.

The fault discrimination unit 13 receives the control signal (current or voltage) of the control unit 11 and the operation signal (current or voltage) of the inverter 12 and compares the control signal with the operation signal, It is determined whether or not it is faulty. In this case, the failure determining unit 13 determines that the propeller 15 is operating normally when the control signal and the operation signal coincide with each other, and determines that the propeller 15 has failed if the control signal and the operation signal do not coincide with each other. The reason that the control signal and the operation signal do not coincide is that the propeller 15 does not operate as the control unit 11 adjusts.

At this time, the fault discrimination unit 13 not only discriminates the fact of the failure of the propeller 15 but also discriminates the number and position of the faulty propeller 15 and the operating state of the faulty propeller 15. Here, 'to determine the operation state of the faulty propeller 15' means that the faulty propeller 15 has completely stopped operating or is operated but discriminates whether the controller 11 operates differently from the adjustment . Further, the fault discrimination unit 13 discriminates the current position of the offshore structure 10. [ This is possible when the failure discriminating unit 13 receives information of the GPS (Global Navigation Satellite System) or the DGPS (Satellite Navigation System) 16 from the control unit 11 in real time.

In this regard, FIG. 2 will be described as an example. In FIG. 2, the offshore structure 10 has six propellers 15 from P1 to P6 for performing active position control. In principle, the control signals of the control unit 11 and the operation signals of the inverter 12 for the six propulsion units 15 will coincide with each other. In this case, the failure determination unit 13 determines that all the propulsion units 15 operate normally . However, if the P3 propeller 15 completely stops operating due to a fault, the control signal of the control unit 11 to the P3 propeller 15 and the operation signal of the inverter 12 will not coincide with each other. That is, any one or more of the current or voltage value among the control signal of the control unit 11 and the operation signal of the inverter 12 do not coincide with each other. In this case, the failure determining unit 13 determines that the P3 propeller 15 is completely stopped due to a failure, and determines the current position of the offshore structure 10.

The algorithm generation unit 14 receives information of the failure discrimination unit 13 when a failure occurs in the propeller 15. The information of the failure discrimination unit 13 includes information on the number and position of the failed propulsion system 15, the operational state of the failed propulsion system 15, and the current position of the offshore structure 10. [ The algorithm generation unit 14 generates an algorithm for performing an active position control based on the fault tolerance algorithm of the remaining propeller 15 that normally operates, that is, the remaining propeller 15 that operates normally, based on the information of the failure discrimination unit 13, . The controller 11 accepts the fault tolerance algorithm of the algorithm generator 14 and controls the output and direction of the remaining propeller 15 that operates normally according to the fault tolerant algorithm. 2, the algorithm generation unit 14 generates the fault tolerance algorithm for the remaining P1, P2, P4, P5 and P6 propellant 15 except for P3, and accordingly, the control unit 11 calculates P1, P2, P5, and P6 actuators 15 to perform active position control.

Hereinafter, the function of the algorithm generating section 14 will be described in more detail with reference to FIG. 2 assumes that the current position of the offshore structure 10 is not less than the target position (the target position is, in most cases, the work position).

The algorithm generation unit 14 first calculates a relative distance and a direction between the current position and the target position of the offshore structure 10 and based on the calculated relative distance and direction on the basis of an appropriate fault tolerance algorithm for allowing the offshore structure 10 to move into the target position radius .

2, when the offshore structure 10 is deviated from a predetermined target position radius due to an external force such as wind, waves, ice or the like, the control unit 11 controls the GPS (Global Positioning System) 16 to control the six propellers 15 to move to the target position in accordance with the attitude (heading angle, etc.) of the offshore structure 10. [ In principle, if all six propellers 15 are in normal operation and out of the target position radius, the six propellers 15 will rotate azimuthally toward their respective target positions and then gradually increase the output to move to the target position The active position control will be performed while changing the direction in real time according to the attitude change of the offshore structure 10.

However, when the P3 propeller 15 is completely stopped due to a failure, a fault tolerant algorithm is operated which controls the output of the remaining propeller 15 in accordance with the current failure situation. P3, P5, and P6 propulsors (15) are larger than the output sum of the P1 and P2 propellers (15) when the P3 propeller (15) fails, the safety and mobility of the offshore structure (10) Problems can arise. At this time, for example, the output of each of the P4, P5, and P6 propellers 15 is compared with the output of each of the P1 and P2 propellers 15 so that the marine structure 10 is generated to about 33% It is possible to carry out the fault tolerant algorithm so that the moving speed of the mobile station can be stably moved even if it is late.

In this case, one or more fault tolerant algorithms may be generated. If more than two fault tolerant algorithms are generated, the control section 11 may select some or all of the fault tolerant algorithms with a difference.

The fault tolerant algorithm also includes an instruction to individually set the output and direction of the normally operating propeller 15. Therefore, in the example of FIG. 2, the normal operation of the P1, P2, P4, P5, P6 propeller 15 is set separately for its output and direction. This is because the outputs and directions of the propellers 15 of the P1, P2, P4, P5 and P6 are set to be different from each other or vice versa, or only the output and direction of some of the propellers 15, such as two or three, And the like.

On the other hand, if the operation state of the faulty propeller 15, that is, whether the faulty propeller 15 has completely stopped operating or not, but the operation of the algorithm generating section 14 depending on whether the controller 11 operates differently from the adjustment The form may vary.

If the failed propeller 15 has completely stopped operating, the algorithm generator 14 generates a fault tolerance algorithm consisting solely of the output and direction of the remaining normally operating propeller 15. However, if the faulty propeller 15 is operating but the control 11 operates differently than the control 11, the algorithm generator 14 generates both types of fault tolerance algorithms: The first is to generate a fault tolerance algorithm consisting solely of the output and direction of the remaining normally operating propeller 15, in which case the fault tolerant algorithm includes an instruction to stop the operation of the failed propeller 15. The second case is the generation of a fault tolerance algorithm consisting of the output and direction of both the faulty propeller 15 and the rest of the normally operating propeller 15 where the fault tolerant algorithm includes the current output of the faulty propeller 15 And setting the output and direction of the remaining normally operating thrusters 15 in consideration of the direction.

Hereinafter, embodiments of the present invention will be described more specifically with reference to FIG.

S1: The control unit 11 receives information of the satellite navigation system (GPS) or the satellite navigation correction system (DGPS) 16 in real time.

S2: When the control unit 11 detects that the offshore structure 10 is out of the target position radius (work position), it generates a control signal for operating the inverter 12.

S3: The inverter 12 operates the propeller 15 according to the control signal of the control unit 11 and generates an operation signal according to the operation state value.

S4: The fault discrimination unit 13 compares the control signal of the control unit 11 with the operation signal of the inverter 12 to determine whether the propeller 15 is faulty or not. If the control signal and the operation signal coincide with each other, the fault discrimination unit 13 determines that the propeller 15 is operating normally. In this case, the algorithm generation unit 14 does not operate.

S5: A satellite navigation system (GPS) or a satellite navigation correction system (DGPS) 16 generates position change information of the offshore structure 10 in real time in accordance with the operation of the propeller 15. When the offshore structure 10 returns to the target position radius, the control unit 11 basically stops the operation of the propeller 15. However, it may be possible to continue operating the propeller 15 or to vary the output and direction of the propeller 15 to maintain the original position.

S6: In S4, the failure determining unit 13 determines that the propeller 15 has failed if the control signal and the operating signal do not coincide with each other. In this case, the algorithm generating unit 14 adds the information of the failure determining unit 13 Based on the fault tolerance algorithm of the remaining propeller 15, that is, the algorithm for performing active position control only with the remaining propeller 15 that is normally operating.

S7: The control unit 11 generates a control signal for adjusting the remaining propeller 15 operating normally according to the fault tolerant algorithm. Hereinafter, the processes of S3, S4, and S5 are repeated.

According to the above process, when failure occurs in some propeller 15 of the offshore structure 10, smooth active position control can be performed through the failure tolerance algorithm of the remaining propeller 15. Therefore, there is no need to install redundant equipment such as a generator, a controller, a power supply, and a control line in a full active position control as in the past, and thereby, a very large economic profit can be achieved throughout the initial design, manufacture, installation and operation of a complex offshore structure Can be obtained.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and accompanying drawings. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: offshore structure 11: control unit
12: Inverter 13: Fault discrimination unit
14: Algorithm generator 15: Propeller
16: Satellite navigation system (GPS) or satellite navigation correction system (DGPS)

Claims (26)

1. An offshore structure (10) for performing active position control using a plurality of propellers (15)
A failure judgment unit (13) for judging whether or not the propeller (15) is faulty;
An algorithm generating unit 14 for generating a fault tolerance algorithm of the remaining propeller 15 in the case of the failure determination of some thrusters 15;
The positional change information of the offshore structure according to the operation of the plurality of propellers generated by the GPS (Global Positioning System) or the DGPS is received in real time, and when the offshore structure is detected to be outside the target position radius Controls the output and direction of the propeller (15) for moving the offshore structure to a target position in accordance with the heading angle of the offshore structure in accordance with the fault tolerant algorithm, A control unit (11) for determining whether to continue the operation of the propeller according to the position change information generated by the satellite navigation system or the satellite navigation correction system; And
And an inverter (12) for operating the plurality of propellers according to a control signal of the control unit and generating an operation signal according to an operating state value of each of the plurality of propellers,
The fault discrimination unit compares a current value or a voltage value with respect to the control signal of the control unit and a current value or a voltage value with respect to an operation signal of the inverter 12 and outputs a current value or a voltage value for the control signal, Determines that the propeller is malfunctioning if the current value or the voltage value for the propeller does not match,
The fault tolerant algorithm generated by the algorithm generator when the specific propeller of the plurality of propulsors stops operating due to a failure,
After comparing the output of each propeller to the propeller group with the failed propeller and the output of each propeller to the propeller group of the unbroken propellers, the output of each failed propeller is compared to the output of the failed propeller Wherein the fault tolerance algorithm is a fault tolerance algorithm that lowers the fault tolerance by a percentage. The method according to claim 1,
Characterized in that the control unit (11) may be operated automatically by a computer device or manually by a human operator. delete delete The method according to claim 1,
Characterized in that the inverter (12) relates to a propeller-turning motor of the propeller (15) and to a motor for azimuth. The method according to claim 1,
Characterized in that the inverter (12) is matched one to one to a plurality of propellers (15) to individually control each propeller (15). The method of claim 6,
The same number of the inverters 12 as the plurality of propellers 15 are connected one to the other of the propellers 15 or one inverter 12 is connected to the plurality of propellers 15 simultaneously Wherein the system is in the form of an active position control system for an offshore structure. The method according to claim 1,
The failure discrimination unit 13 detects the number and position of the failed propulsion system 15 and the operation state of the failed propulsion system 15 (ie, whether the failed propulsion system 15 is completely stopped or operated, And the current location of the offshore structure (10), including the current position of the offshore structure (10). The method according to claim 1,
Wherein the algorithm generating unit (14) calculates the relative distance and direction between the current position and the target position of the offshore structure (10) and generates the fault tolerant algorithm based on the calculated distance and direction. Active position control system. The method according to claim 1,
The algorithm generating unit 14 generates one or more fault tolerant algorithms, and if more than two fault tolerant algorithms are generated, the control unit 11 may select some or all of the fault tolerant algorithms Wherein the active position control system of the offshore structure is capable of providing a fault tolerance. The method according to claim 1,
Characterized in that the fault tolerant algorithm comprises an instruction to separately set the output and direction of the normally operating propeller (15). The method of claim 11,
Characterized in that the output and the direction of the propeller (15) are both set differently, or on the contrary, they are all set to be the same, or else only some of the propeller (15) system. The method according to claim 1,
Characterized in that if the faulted propeller (15) has completely stopped operating, the algorithm generating section (14) generates a fault tolerance algorithm consisting solely of the output and direction of the remaining normally operating propeller (15) Fault tolerant active position control system. The method according to claim 1,
If the faulty propeller 15 is operated but operates differently than the control unit 11, the algorithm generation unit 14 generates a fault tolerance algorithm consisting only of the output and direction of the remaining normally operating propeller 15, Wherein the fault tolerant algorithm includes an instruction to stop the operation of the faulted propeller (15). ≪ Desc / Clms Page number 13 > The method according to claim 1,
If the failed propeller 15 is operated but operates differently than the control unit 11, the algorithm generating unit 14 determines whether the failed propeller 15 and the rest of the normally operating propeller 15 In which the output and direction of the remaining normally operating thrusters 15 are set in consideration of the current output and the direction of the faulted thrusters 15, Wherein the active position control system includes an active position control system for a marine structure. delete The method according to claim 1,
The control unit 11 may stop the operation of the propeller 15 or continue to operate the propeller 15 to maintain the position of the offshore structure 10 when the offshore structure 10 returns to the target position radius Or to vary the output and direction of the propeller (15). ≪ Desc / Clms Page number 13 > 1. An offshore structure (10) for performing active position control using a plurality of propellers (15)
A control unit (11) for receiving positional change information of an offshore structure according to operation of the plurality of propellers generated by a GPS (Global Positioning System) or a DGPS (Satellite Navigation System) Generating a control signal for operation of the inverter (12) when detecting an off-state;
The inverter (12) activating a plurality of thrusters according to a control signal of the control unit, and generating an operation signal for the thrusters (15) according to an operating state value of each of the plurality of thrusters;
The fault discrimination unit 13 compares the current value or the voltage value for the control signal with the current value or the voltage value for the operation signal of the inverter 12, If the current value or the voltage value for the propeller 15 does not match, it is determined that the propeller 15 has failed, and if it is determined that the propeller is operating normally,
Generating a fault tolerance algorithm of the remaining thrusters (15) by the algorithm generating unit (14) when a fault of some thrusters (15) is determined; And
The control unit 11 controls the output and direction of the propeller 15 according to the fault tolerant algorithm and determines whether to continue the operation of the propeller in accordance with the position change information generated by the satellite navigation system or the satellite navigation correction system Determining;
/ RTI >
The fault tolerant algorithm generated by the algorithm generator when the specific propeller of the plurality of propulsors stops operating due to a failure,
After comparing the output of each propeller to the propeller group with the failed propeller and the output of each propeller to the propeller group of the unbroken propellers, the output of each failed propeller is compared to the output of the failed propeller Wherein the fault tolerance algorithm is a fault tolerance algorithm that lowers the fault tolerance by a percentage. 19. The method of claim 18,
The failure discrimination unit 13 detects the number and position of the failed propulsion system 15 and the operation state of the failed propulsion system 15 (ie, whether the failed propulsion system 15 is completely stopped or operated, And determining the current position of the offshore structure (10), including the current position of the offshore structure (10). 19. The method of claim 18,
Wherein the algorithm generating unit (14) calculates the relative distance and direction between the current position and the target position of the offshore structure (10) and generates the fault tolerant algorithm based on the calculated distance and direction. Active position control method. 19. The method of claim 18,
The algorithm generating unit 14 generates one or more fault tolerant algorithms, and if more than two fault tolerant algorithms are generated, the control unit 11 may select some or all of the fault tolerant algorithms Wherein the active position control method comprises the steps of: 19. The method of claim 18,
The fault tolerant algorithm comprises an instruction to individually set the output and direction of the normally operating propeller 15, in which case the output and direction of the propeller 15 are both set differently, Characterized in that the output and direction of some thrusters (15) are set to be identical. delete 19. The method of claim 18,
If the faulty propeller 15 is in operation but operates differently than the control unit 11, the algorithm generation unit 14,
A fault tolerance algorithm including only the output and the direction of the remaining normally operating thrusters 15, in which case a command to stop the operation of the faulty propeller 15 is generated,
And the output and direction of both the failed propeller 15 and the remaining normal propeller 15 are taken into account and the remaining normal propeller 15 is operated in consideration of the current output and direction of the failed propeller 15, And generating a fault tolerant algorithm including an instruction to set an output and a direction of the fault. delete 19. The method of claim 18,
The control unit 11 may stop the operation of the propeller 15 or continue to operate the propeller 15 to maintain the position of the offshore structure 10 when the offshore structure 10 returns to the target position radius Or to vary the output and direction of the propeller (15). ≪ RTI ID = 0.0 > 10. < / RTI >
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