한국해양대학교

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

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dc.contributor.advisor 최형식 -
dc.contributor.author 성형석 -
dc.date.accessioned 2019-12-16T02:41:03Z -
dc.date.available 2019-12-16T02:41:03Z -
dc.date.issued 2017 -
dc.identifier.uri http://repository.kmou.ac.kr/handle/2014.oak/11303 -
dc.identifier.uri http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002324729 -
dc.description.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. -
dc.description.tableofcontents Chapter 1. Introduction 1.1 Background and History 1.2 Recent research Chapter 2. Mathematical Model of Dynamics 2.1 Coordinate of AHC system 2.2 Dynamic relations among the forces 2.3 Hydraulic-driven winch system dynamics Chapter 3. Control Strategy 3.1 PD controller 3.2 Sliding mode controller 3.3 Nonlinear generalised predictive controller Chapter 4. Simulation and Results 4.1 PD controller 4.2 Sliding mode controller 4.3 Nonlinear generalised predictive controller Chapter 5. Conclusions Appendix A.1 Feedback linearization A.2 Predictive control of general nonlinear systems Acknowledgements References -
dc.format.extent 51 -
dc.language eng -
dc.publisher 한국해양과학기술원-한국해양대학교 해양과학기술전문대학원 -
dc.rights 한국해양대학교 논문은 저작권에 의해 보호받습니다. -
dc.title An Active Heave Compensation System for Offshore Crane considering the Time-delay -
dc.title.alternative 시간 지연을 고려한 해상 크레인의 상하동요 보상 시스템의 능동제어 -
dc.type Dissertation -
dc.date.awarded 2017-02 -
dc.contributor.department 해양과학기술전문대학원 해양과학기술융합학과 -
dc.description.degree Master -
dc.subject.keyword Active heave compensation, Nonlinear system, Sliding mode control, Time-delay, Nonlinear generlized predictive control -
dc.type.local Text -
dc.identifier.holdings 000000001979▲000000006780▲000002324729▲ -
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해양과학기술융합학과 > Thesis
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