한국해양대학교

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An Active Heave Compensation System for Offshore Crane considering the Time-delay

Title
An Active Heave Compensation System for Offshore Crane considering the Time-delay
Alternative Title
시간 지연을 고려한 해상 크레인의 상하동요 보상 시스템의 능동제어
Author(s)
성형석
Keyword
Active heave compensation, Nonlinear system, Sliding mode control, Time-delay, Nonlinear generlized predictive control
Publication Year
2017
Publisher
한국해양과학기술원-한국해양대학교 해양과학기술전문대학원
URI
http://repository.kmou.ac.kr/handle/2014.oak/11303
http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002324729
Abstract
This thesis presents a heave compensation system for offshore crane when it gets unexpected disturbances and external force. The dynamic model consists of crane assumed to be the rigid body, hydraulic driven winch, elastic rope and payload. To keep the payload from moving up and down, PD control is applied by using linearization. For better performance, sliding mode control and nonlinear generalized predictive control algorithm is applied due to the time-delay. As a result, the oscillating amplitude of the payload is reduced by using the control algorithm. Considering the time-delay assumed one second involved in the system, nonlinear generalized predictive controller with robust controller is suitable control algorithm for this heave compensation system because it makes the position of payload reach the desired position with least error. In the end of thesis, it shows the control algorithm using the robust control and its simulation results.
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해양과학기술융합학과 > Thesis
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