NMPC-Based Coupled Control of a Dynamic Positioning Crane Vessel During Blade Installation

The installation of offshore wind turbine blades necessitates precise control to counteract environmental disturbances and loads caused by the blades. The present paper proposes a non-linear model predictive control method for the purpose of resolving the dynamic positioning problem of the installation vessel. Firstly, the aerodynamic loads on the blade are calculated based on the blade unit theory, and the combined forces and moments on the vessel are combined with the time-varying mooring stiffness parameters. Consequently, a coupled nonlinear mathematical model of the vessel blade system is formulated. The simulation results, obtained under a range of environmental conditions, demonstrate the efficacy of the proposed NMPC controller in enabling the vessel to meet the requisite blade alignment requirements during the installation phase in sea state 2. The findings corroborate the precision of the nonlinear mathematical model of the vessel's blade and the efficacy of the NMPC method in enhancing the stability and reliability of offshore wind turbine blade installation.