Triple Modular Redundancy Fault-tolerant Structure Of DP-3Dynamic Positioning Control System

China’s Ministry of Land released the annual dynamic evaluation for oil and gasresources in Nov.2011, which shows that we highly depend on foreign oil and gas over50%.It is significant of promoting evaluation, exploration and mining ability for sustainabledevelopment of economy and society. Strengthening the deep-water oil and gas exploration inthe northern South China Sea is expected to optimize our supply pattern. With the help of thedynamic positioning system and platform equipment integrated control systems, the deep-seasemi-submersible platform can drill efficiently, accomplish lifting compensationautomatically and adapt to the marine environment. It plays a critical role in the deep-seaexploration and development.In this paper, we refer to the dynamic positioning system design specifications of ABSand CCS, and fully study DP-3dynamic positioning system related technology at home andabroad. According to the redundancy requirements of the “Offshore Oil981”semi-submersible platform DP-3dynamic positioning system, we design and implement theDP-3dynamic positioning control system triple modular redundancy fault-tolerant structure.Besides, we discuss related technologies, respectively involved in synchronization,multi-machine voting, and fault diagnosis and system reconfiguration.First of all, in this paper, we study the dynamic positioning system design specificationsof ABS and CCS, and the redundancy requirements of the “Offshore Oil981”semi-submersible platform DP-3dynamic positioning system, then, design the triple modularredundancy (TMR) fault-tolerant structure. With the help of VC++, we implement softwaredevelopment. The software will make the DP-3dynamic positioning system computers havefault-tolerant ability. Additionally, in the study of these related technologies involvingsynchronization, voting, fault diagnosis and system reconfiguration, we propose the LeastSquares Support Vector Regression based Loose Time Synchronization Method,Self-organization Mapping Net based Multi-machine Voting Method, and Self-organizationMapping Net based DP-3Dynamic Positioning Control System Fault Diagnosis Method. Wedemonstrate the validation of proposed approaches by performing simulations in MATLAB.Meanwhile, we illustrate the process of the task-level synchronization and systemreconstruction in detail. Finally, we demonstrate the performance and validation of proposedstructure in DP-3dynamic positioning visual simulation system by Virtual Reality technology,which is developed by the State Key Laboratory of Autonomous Underwater Vehicle of Harbin Engineering University. The experimental results show that the DP-3dynamicpositioning control system based on the proposed TMR fault-tolerant structure can achievemulti-machine cooperation, synchronization, and joint control, which have the ability ofshielding single-point failure, intelligent fault diagnosis, fault processing and system recovery.The structure proposed can bring excellent reliability to DP-3dynamic positioning system.