Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
권호 표지
DOI QR코드

DOI QR Code

Heave Compensation System Design for Offshore Crane based on Input-Output Linearization

  • Received : 2016.11.18
  • Accepted : 2017.02.14
  • Published : 2017.04.30
Download PDF
⟨ Previous Next ⟩

Abstract

A heave motion of the offshore crane system with load is affected by unpredictable external factors. Therefore the offshore crane must satisfy rigorous requirements in terms of safety and efficiency. This paper intends to reduce the heave displacement of load position which is produced by rope extension and sea wave disturbance in vertical motion. In this system, the load position is compensated by the winch actuator control. The rope is modeled as a mass-damper-spring system, and a controller is designed by the input-output linearization method. The model system and the proposed control method are evaluated on the simulation results.

Keywords

References

  1. U. A. Korde, 1998, "Active heave compensation on drill-ships in irregular waves", Ocean Engineering, Vol. 25, pp. 541-561. https://doi.org/10.1016/S0029-8018(97)00028-0
  2. S. Messineo and A. Serrani, 2009, "Offshore crane control based on adaptive external models", Automatica, Vol. 45, pp. 2546-2556. https://doi.org/10.1016/j.automatica.2009.07.032
  3. S. I. Sagatun, 2002, "Active control of underwater installation", IEEE Transactions on Control System Technology, Vol. 10, pp. 743-748. https://doi.org/10.1109/TCST.2002.801783
  4. J. T. Hatleskog and M. W. Dunnigan, 2007, "Passive compensator load variation for deep-water drilling", IEEE Journal of Oceanic Engineering, Vol. 32, pp. 593-602. https://doi.org/10.1109/JOE.2007.895276
  5. H. Nijmeijer and A. J. Schaft, 1990, "Nonlinear dynamical control systems", Springer-Verlag: Berlin, Germany, pp. 172-198.
  6. J. J. E. Slotine and W. Li, 1991, "Applied Nonlinear Control", Prentice-Hall: NY, USA, pp. 112-137.
  7. H. A. B. TeBraake, J. V. Can, J. M. A. Scherpen and H. B. Verbruggen, 1998, "Control of nonlinear chemical processes using neural models and feedback linearization", Computers & Chemical Engineering, Vol. 22, pp. 1113-1127. https://doi.org/10.1016/S0098-1354(97)00267-6
  8. Q. Zheng, Z. Chen and Z. Gao, 2007, "A practical approach to disturbance decoupling control", Control Engineering Practice, Vol. 17, pp. 1016-1025.
  9. A. Kaldmae and U. Kotta, 2014, "Disturbance decoupling by measurement feedback", IFAC Proceedings Volumes, Vol. 47, pp. 7735-7740. https://doi.org/10.3182/20140824-6-ZA-1003.00216
  10. E. Semsar, M. J. Yazdanpanah and C. Lucas, 2003, "Nonlinear control, disturbance decoupling and load estimation in HVAC systems", Conference of Control Application.
  11. A. Isidori, 1987, "Lectures on nonlinear control", notes prepared for a course at Carl CranzGesellschaft.
  12. T. Fossen, 1994, "Guidance and Control of Ocean Vehicles", New York: Wiley.
  13. M. F. Glushko and A. A. Chizh, 1969, "Differential equations of motion for a mine lift cable", International Applied Mechanics, Vol. 5, pp. 17-23.
  14. O. A. Goroshko, 2007, "Evolution of the dynamic theory of hoist ropes", International Applied Mechanics, Vol. 43, pp. 64-67. https://doi.org/10.1007/s10778-007-0007-9
  15. R. F. Fung and J. H. Lin, 1997, "Vibration analysis and suppression control of an elevator string actuated by a pm synchronous servo motor", Journal of Sound and Vibration, Vol. 206, pp. 399-423. https://doi.org/10.1006/jsvi.1997.1102
  16. S. M. Moon, J. Huh, D. Hong, S. Lee and C. S. Han, 2015, "Vertical motion control of building facade maintenance robot with built-in guide rail", Robotics and Computer-Integrated Manufacturing, Vol. 31, pp. 11-20. https://doi.org/10.1016/j.rcim.2014.06.006