ABSTRACT

In this paper, the TRID is introduced into the semi-submersible platform to improve its motion performance. The Cummins equation (Cummins, 1962) is used to optimal design the TRID’s parameters in the time domain to get the desired control performance. The convolution terms are replaced by the state-space model (Kristiansen & Egeland (2003), Perez & Fossen (2011)) to improve the computational efficiency. The hydrodynamic frequency dependent parameters are first calculated, and then the realization theory is adopted to translate the convolution terms into the state-space model. The semisubmersible platform is positioned by the mooring system. The performance of the TRID’s anti-roll motions control for a semi-submersible platform is verified under the irregular waves in time domain.