The objective of this paper is to present an approach in developing a virtual active heave compensation system for a draw-works on a hoisting rig. A virtual system enables quicker overall product development time of a physical system as well as flexibility in optimizing the design parameters. Development of the virtual system started with the modelling of the draw-works and hoisting rig dynamics. Simulations of this model were run in two operational modes while subject to a sinusoidal wave: heave compensation and seabed landing of a payload. The results were analyzed and used for optimization in terms of cost and performance. This lays the groundwork for further testing either through hardware-in-the-loop testing (HIL) or using an actual prototype.
The Bond Graph is the proper choice of physical system used for: (i) Modeling which can be applied to systems combining multidisciplinary energy domains, (ii) Analysis to provide a great value proposition for finding the algebraic loops within the system enabling the process of troubleshooting and eliminating the defects by using the proper component(s) to fix the causality conflict even without being acquainted in the proper system, and (iii) Simulation facilitated through derived state space equations from the Bond Graph model is solved using industrial simulation software, such as 20-Sim, www.20sim.com.The Bond Graph technique is a graphical language of modeling, in which component energy ports are connected by bonds that specify the transfer of energy between system components. Following a brief introduction of the Bond Graph methodology and techniques, two separate case studies are comprehensively addressed. The first case study is a systematic implementation of a fourth order electrical system and conversion to mechanical system while the second case study presents modeling of the Dielectric Electro Active Polymer (DEAP) actuator. Building the systematic Bond Graph of multifaceted system and ease of switching between different domains are aims of the first case study while the second study shows how a complex mechatronic system could be analyzed and built by the Bond Graph. The respective Bond Graphs in each case is evaluated in the light of mathematical equations and simulations. Excellent correlation has been achieved between the simulation results and proper system equations.
A study into the appropriateness of characterizing the dynamics of the dielectric electroactive polymer (DEAP) fundamental sheet has been performed. Whereby a model describing the dynamics of the DEAP fundamental sheet is developed, parameters of the models are determined using experimental/simulation results, and verification has been conducted to determine the precision of the dynamic model. The precision for the DEAP sheet-obtained dynamic model could not be verified unless some parameters characterizing the material properties are found. For this purpose, a set of preparatory experiments are done in order to find the material properties "Young's modulus and damping". The testing for finding the material properties is requested before doing the dynamic analysis; both material characterization and dynamic analysis tests are performed using the developed testing rig which will be described in the paper. The results of this study highlight the dependency of the material dynamics on the mechanical fixture of the material, whereby the range of operation can be reduced to lower frequencies or expanded to higher frequencies when the mechanical fixture is designed for a certain application. The test results for the material show a relatively visible error between 0 and 20 Hz, but the error diverges after this range was stimulated when exceeding the natural frequency of the system, leading to nonstable state affecting the controllability of the actuated
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