Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 16, Issue 2, Pages 297-309Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2010.2041933
Keywords
Heave compensation; heave prediction; marine operation; nonlinear control; offshore technology
Ask authors/readers for more resources
During offshore installations in harsh sea conditions, the involved crane system must satisfy rigorous requirements in terms of safety and efficiency. The forces resulting from the vertical motion of the vessel have an extensive effect on the overall crane structure and its lifetime. Moreover, vessel motion handicaps the operator during fine positioning of the payload. Hence, an active compensation system for the vertical vessel motion is proposed. An important point to consider for such systems is the time delay between the sensors and actuators, which diminishes performance. To compensate the dead times in the system, a prediction algorithm for the vertical motion of the vessel is proposed in the first part. In the second part, an inversion-based control strategy for the hydraulic-driven winch is formulated that considers the dynamic behavior of the drive system. A feedforward controller compensates the vertical-motion disturbance using the predicted motion. The proposed controller together with the prediction algorithm decouple the motion of the rope-suspended payload from the vessel's motion. The active compensation approach is evaluated with simulation and measurement results.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available