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http://dx.doi.org/10.5916/jkosme.2017.41.1.105

Robust control of a heave compensation system for offshore cranes considering the time-delay  

Seong, Hyung-Seok (Department of Convergence Study on the Ocean Science and Technology, Korea Maritime and Ocean University)
Choi, Hyeong-Sik (Department of Mechanical and Energy Systems Engineering, Korea Maritime and Ocean University)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.41, no.1, 2017 , pp. 105-110 More about this Journal
Abstract
This paper introduces a heave compensation system for offshore crane when it subjected to unexpected disturbances such as ocean waves, tidal currents or winds and their external force. The dynamic model consists of a crane which is considered to behave in the same manner as a rigid body, a hydraulic driven winch, an elastic rope and a payload. To keep the payload from moving upwards and downwards, PD(Proportional-Derivative) control was applied by using linearization. In order to achieve a better performance, the sliding mode control and the nonlinear generalized predictive control algorithm was applied according to the time-delay. As a result, the oscillating amplitude of the payload was reduced by the control algorithm. Considering the time-delay involved in the system to be one second, nonlinear generalized predictive controller with a robust controller was a suitable control algorithm for this heave compensation system because it made the position of te payload reach the desired position with the minimum error. This paper presented a control algorithm using the robust control and its simulation results.
Keywords
Active heave compensation; Nonlinear system; Sliding-mode control; Time-delay; Nonlinear generalized predictive control;
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