Development and Commissioning of a DP system for ROV SF 30k
This Master thesis details the development of a mathematical model of ROV SF
30k, and its implementation into a DP control system developed by Espen Tolpinrud.
The project was performed as a part of the Applied Underwater Robotics at
A 6DOF model of the ROV was developed. The parameters of the model were
found using both the 3D model of the ROV provided by Sperre AS, and based on
the parameters found previously for ROV Minerva. Both ROVs were developed
by Sperre AS and share many similarities. Thrust configuration was developed for
the ROV based on the geometric positions and orientations of its thrusters, while
thrust coefficients were found using propeller data provided by Sperre AS. The DP
control system was configured to operate SF 30k by using a configuration file based
on the found parameters.
A number of modules were ported from the old DP system, which was tailormade
for ROV Minerva, to the new one. This includes the Kalman Filter, controllers
and thrust allocation. An adaptive passive nonlinear observer was developed
The existing simulator model for ROV Minerva was modified to be able to
simulate ROV SF 30k. This was done by changing the parameters of the process
plant model and thrust dynamics.
The parameters in the configuration file for the new control system were verified
during sea trials onboard R/V Gunnerus on May 29-30th 2012. The thrust allocation
parameters were found to be satisfactory during ROV operation, however, the
mathematical model of the ROV could not be verified due to the small window of
operation during the sea trials.
Place, publisher, year, edition, pages
Institutt for marin teknikk , 2012. , 96 p.
ntnudaim:7590, MTMART Marin teknikk, Marine konstruksjoner
IdentifiersURN: urn:nbn:no:ntnu:diva-18559Local ID: ntnudaim:7590OAI: oai:DiVA.org:ntnu-18559DiVA: diva2:566076
Sørensen, Asgeir Johan, Professor