&lt;title&gt;Active control of heave motion for TLP-type offshore platform under random waves&lt;/title&gt;

Battista, Ronaldo C.; Alves, Rosane Martins

doi:10.1117/12.348669

Cited by 11 publications

(4 citation statements)

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“…A typical example of such control problems is the problem of heave motion control of offshore cranes [1]- [9]. In terms of control methodology, LQ optimal control [1], [2], [7], disturbance observer and back-stepping control [3], nonlinear disturbance decoupling [8] have been employed.…”

Section: Introductionmentioning

confidence: 99%

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Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

Iwamura

Toda

2013

2013 American Control Conference

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In this paper, we present a motion control method of oscillatory-base manipulators, which are associated with mechanical systems installed on vessels or ocean structures. The typical property of such systems is strong and persistent disturbance due to the base oscillation to be overcome. Therefore, we attempt to exploit the sliding mode control (SMC) concept which is known to be a powerful tool to develop a robust control system against disturbances and model uncertainties. Specifically, we propose a novel approach based on SMC by introducing a nonlinear sliding surface with variable-gain integral control. We address control system design and stability analysis for the proposed SMC, and demonstrate its control performance by simulations. The results show that the proposed control method can achieve successful control performance for oscillatory-manipulators and further exhibits advantageous features with respect to control performance and control inputs when compared with the conventional SMC.

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Section: Introductionmentioning

confidence: 99%

“…In terms of control methodology, LQ optimal control [1], [2], [7], disturbance observer and back-stepping control [3], nonlinear disturbance decoupling [8] have been employed.…”

Section: Introductionmentioning

confidence: 99%

Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

Iwamura

Toda

2013

2013 American Control Conference

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“…In the ocean engineering field, heave (vertical) motion compensation systems have been extensively investigated and aimed at applications in ocean platforms for deep water oil exploitation [1], [2], drillships [3], [4], offshore cranes [5]- [10], and remotely operated vehicles [11].…”

Section: Introductionmentioning

confidence: 99%

“…In view of control theory, assuming the dynamical model to be linear, a PD control-based approach was presented in [4], and linear quadratic (LQ) optimal control was employed in [1], [2], and [6]. Another study [5] targeted on the wire velocity control of an offshore crane and proposed a method to generate a reference signal for wave synchronization using a transfer function model.…”

Section: Introductionmentioning

confidence: 99%

Robust Motion Control of an Oscillatory-Base Manipulator in a Global Coordinate System

Sato

Toda

2015

IEEE Trans. Ind. Electron.

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This paper presents a control design method for motion control in a global coordinate system of an oscillatory-base manipulator, which can be regarded as a model system of mechanical systems installed on vessels or oceanic structures. This paper proposes a control design method for such systems exploiting H ∞ control and proportional and derivative (PD) control. In order to evaluate the proposed method, tracking control simulations and experiments were conducted for both attitude control and position control with practical constraints such as sensor error and actuator saturation. Furthermore, the proposed controller was compared with a conventional proportional, integral, and derivative (PID) controller. The results demonstrate that the proposed controller is successfully effective and is superior to the PID controller. Moreover, robust control experiments and robust stability analyses using our proposed machinery show that the proposed controller has strong robustness against physical parametric perturbations. Our developed robust stability analysis machinery is based on the state-dependent coefficient form and applicable to a wider class of systems than the previous one.

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Passive structural control of offshore wind turbines

2010

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The application of control techniques to offshore wind turbines has the potential to signifi cantly improve the structural response of these systems. A new simulation tool is developed that can be utilized to model passive, semi-active and active structural control systems in wind turbines. Two independent, single degree of freedom (DOF) tuned massdamper (TMD) devices are incorporated into a modifi ed version of the aero-elastic code FAST (Fatigue, Aerodynamics, Structures and Turbulence). The TMDs are located in the nacelle of the turbine model, with one TMD translating in the fore-aft direction, and the other in the side-side direction. The equations of motion of the TMDs are incorporated into the source code of FAST, yielding a more realistic system for modeling structural control in wind turbines than has previously been modeled. The stiffness, damping and commanded force of each TMD are controllable through the FAST-Simulink interface, and so idealizations of semi-active and active control approaches can be implemented. A parametric study is performed to determine the optimal parameters of a passive single DOF, fore-aft, TMD system in both a barge-type and monopile support structure. The wind turbine models equipped with TMDs are then simulated and the performance of these new systems is evaluated. The results indicate that passive control approaches can be used to improve the structural response of offshore wind turbines. The results also demonstrate the potential for active control approaches. CopyrightSimulations of the systems are performed, and the impact of passive structural control on the performance and loads of offshore wind turbines is highlighted. The results demonstrate the promise that structural control holds for offshore wind turbine structures, as well as the need for more advanced control approaches. Previous work Control of structuresThe control of civil engineering structures has been an active research area for over two decades. [15][16][17][18][19][20] The goal of this body of work has been to protect structures from dynamic loading due to earthquakes, wind, waves and other sources. 21 In the context of wind turbines and in this paper, 'structural control' refers to any device or material that is utilized in a wind turbine structure either to enhance damping or to generate forces to control the structural response. Thus, structural control is contrasted with approaches that utilize the existing control system to improve the structural response; instead, when structural control is implemented, it indicates that an additional degree of freedom (DOF) has been added explicitly to infl uence the structural behavior.There are three major categories of control methods for structures: passive, semi-active and active. 16 Passive structural control techniques are the most simple, as the systems have constant parameters and no energy input to the system. A simple example of a passive system is a mass-spring-damper that is tuned to absorb energy at one of the natural frequencies of the entire struc...

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<title>Active control of heave motion for TLP-type offshore platform under random waves</title>

Cited by 11 publications

References 0 publications

Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

Motion control of an oscillatory-base manipulator using sliding mode control via rotating sliding surface with variable-gain integral control

Robust Motion Control of an Oscillatory-Base Manipulator in a Global Coordinate System

Passive structural control of offshore wind turbines

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