https://scholars.lib.ntu.edu.tw/handle/123456789/633649
標題: | IMPLEMENTATION OF A THREE-AXIAL OFFSHORE TURBINE ACCESS SYSTEM WITH ACTIVE MOTION COMPENSATION USING FEEDBACK LINEARIZATION CONTROL | 其他標題: | 以回授線性化控制實現三軸離岸風機登塔系統調平控制之研究 | 作者: | Lee, F. C. Lin, S. C. MAO-HSIUNG CHIANG |
關鍵字: | feedback linearization | hydraulic servo system | motion compensation | offshore wind turbine | turbine access system | 公開日期: | 1-一月-2021 | 卷: | 40 | 期: | 4 | 來源出版物: | Journal of Taiwan Society of Naval Architects and Marine Engineers | 摘要: | The purpose of this study is to realize the leveling control of the turbine access system (TAS) through three-axial active motion compensation to enhance the safety of the offshore operator in the transfer between workboats and offshore wind turbine. The research of the TAS system includes the mechanism design, system kinematics analysis, hydraulic servo system dynamic analysis, controller design. Experiments of the TAS system were implemented to verify the effectiveness of the control strategy. In order to develop the leveling control strategy, the geometry projection method was introduced to investigate the kinematic relation between system end-effector and actuated joints in the TAS mechanism. Base on the system dynamic characteristics, the simplified system mathematical model was derived and applied for the controller design. The feedback linearization theory was applied in the control strategy to eliminate the nonlinearity of the system. This study proposed a modified PID controller combing conventional PID controller and feedback linearization theory to implement the closed-loop control for the TAS system. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/633649 | ISSN: | 10234535 |
顯示於: | 工程科學及海洋工程學系 |
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