Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control

doi:10.16183/j.cnki.jsjtu.2020.415

Abstract

Abstract:

A method for constructing a novel offshore platform was proposed. Based on the cooperative control of multiple unmanned vessels, a self-assembling platform was realized, which could be reconfigured into different shapes according to requirements. A docking controller was designed to realize the docking of two modules. A connecting rod and electromagnetic forces were adopted to complete the docking and reduce the difficulty. Besides, a test site was constructed using the conditions of pool, and a model test was performed to verify the functions of the proposed self-assembling platform. The results show that the design can realize the docking of any unmanned vessel. Compared with the single platform, this self-assembling platform can perform more complex tasks, whose decentralized design makes it more flexible and reliable.

Key words: self-assembling, unmanned vessel, offshore platform, cooperative control

CLC Number:

TP273

YU Te, WANG Lei. Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control[J]. Journal of Shanghai Jiao Tong University, 2021, 55(11): 1493-1498.

Figures/Tables 11

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

References 7

[1]	杨振华, 冷沙. 管窥外军典型无人化作战装备[J]. 军事文摘, 2020(19):31-34.
	YANG Zhenhua, LENG Sha. On typical unmanned combat equipment of foreign army[J]. Military Digest, 2020(19):31-34.
[2]	张伟, 廖煜雷, 姜峰, 等. 无人水面艇技术发展回顾与趋势分析[J]. 无人系统技术, 2019, 2(6):1-9.
	ZHANG Wei, LIAO Yulei, JIANG Feng, et al. Development review and trend analysis of unmanned surface vehicles technology[J]. Unmanned Systems Technology, 2019, 2(6):1-9.
[3]	熊勇, 余嘉俊, 张加, 等. 无人艇研究进展及发展方向[J]. 船舶工程, 2020, 42(2):I0010-I0017.
	XIONG Yong, YU Jiajun, ZHANG Jia, et al. Research progress and development direction of unmanned aerial vehicle[J]. Ship Engineering, 2020, 42(2):I0010-I0017.
[4]	QUEIROZ FILHO A N, TANNURI E A. Experimental results of cooperative control applied to multi-vessel DP operations[C]// Proceedings of ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering. Nantes, France: ASME, 2013.
[5]	QUEIROZ FILHO A N, TANNURI E A. Cooperative control applied to DP systems-numerical analysis[J]. IFAC Proceedings Volumes, 2013, 46(33):268-273.
[6]	CONG P W, MAGEE A R, JAIMAN R, et al. Hydrodynamic analysis including shielding effects and advanced DP controls for improved uptime of a floatel connected to an FPSO by a gangway[C]// Proceedings of the Offshore Technology Conference Asia. Kuala Lumpur, Malaysia: Offshore Technology Conference, 2018.
[7]	FOSSEN T I. Handbook of marine craft hydrodynamics and motion control[M]. Hoboken, USA: Wiley, 2011.

[1]	WANG Minfeng, WEI Xumin, XU Long, et al. Research on Installation Technology of Composite Cables for Newly Constructed Deepwater Jackets [J]. Ocean Engineering Equipment and Technology, 2025, 12(3): 51-57.
[2]	ZHANG Dong, YU Chenglong. Maintenance Practice of Electric Heaters on a Certain Offshore Oil Production Platform [J]. Ocean Engineering Equipment and Technology, 2025, 12(2): 132-135.
[3]	ZHANG Yu. Application and Maintenance of Automatic Control System in Petrochemical Industry [J]. Ocean Engineering Equipment and Technology, 2025, 12(2): 88-91.
[4]	HE Tong, WEI Yali, LU Qing, BI Qian. Path Planning and Control of UAV Cluster Cooperative Reconnaissance Multi-Point Targets [J]. Air & Space Defense, 2025, 8(1): 31-40.
[5]	ZHANG Jingjing^a (张菁菁), ZHAO Jincheng^{a, b, c∗}(赵金城), SONG Zhensen^{a, b, c} (宋振森), DUAN Liping^{a, b, c}(段立平). Experimental Study and Numerical Simulation of Evacuation in an Offshore Platform [J]. J Shanghai Jiaotong Univ Sci, 2024, 29(5): 747-758.
[6]	LI Tingting, WANG Xiaozhi, WANG Aiwu, WANG Jing, LI Xialing. Research and Application of Solid Insulated Switchgear on Offshore Platform [J]. Ocean Engineering Equipment and Technology, 2024, 11(4): 53-57.
[7]	JIN Feiyu (金飞宇), CHEN Longsheng^∗ (陈龙胜), LI Tongshuai (李统帅), SHI Tongxin (石童昕). Distributed Cooperative Anti-Disturbance Control for High-Order MIMO Nonlinear Multi-Agent Systems [J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 656-666.
[8]	YANG Sen, YU Chenglong, ZHANG Guodong, YANG Qifu, LUO Rugui. Application of Endoscopy Detection Technology in Quality Control of Duplex Steel Pipe Section of Offshore Platform [J]. Ocean Engineering Equipment and Technology, 2024, 11(2): 38-42.
[9]	DENG Guanhua, ZHANG Guodong, YANG Qifu, YANG Sen, CEN Jianfeng. Discussion on the Solution of Insulation Failure of Underwater Motor on Offshore Platform [J]. Ocean Engineering Equipment and Technology, 2024, 11(2): 15-19.
[10]	YU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei. USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer [J]. Journal of Shanghai Jiao Tong University, 2023, 57(S1): 114-123.
[11]	AN Tao, LIN Zengyong, BAI Jian. Calculation of Towing Resistance of Jack-up Offshore Platform [J]. Journal of Shanghai Jiao Tong University, 2023, 57(S1): 108-113.
[12]	ZHANG Qingguo, LIU Chunyue, LUO Song, WANG Shuili, LIU Qing. Current Status and Prospects of External Security Technology for Offshore Platforms [J]. Ocean Engineering Equipment and Technology, 2023, 10(4): 92-106.
[13]	DAI Yi, CHEN Zuogang, WANG Fei. Uncertainty Analysis of Offshore Platform Wind Load Tests [J]. Journal of Shanghai Jiao Tong University, 2022, 56(3): 361-367.
[14]	JIANG Xiaoming, WANG Xufeng, ZHANG Weifang, LIU Yigang. Coarse-fine Compound Axis Cooperative Control Strategy Optimization for Laser Tracking & Aiming System [J]. Air & Space Defense, 2019, 2(3): 31-37.
[15]	JIANG Yu-fei , WU Bin-bin , HAN Jing-yan , SHEN Jian, LI Xiao-ming, HUANG Hai-long. Calculation of Structural Modification about Accommodation on Offshore Platform Based on SACS [J]. Ocean Engineering Equipment and Technology, 2018, 5(增刊): 144-148.