State Constrained Variable Structure Control for Active Heave Compensators
Heave compensation systems are widely used to decouple the load motion from wave-induced vessel motion for the equipment handling on the ocean. Researches have been made to achieve successful compensation, yet few of them discusses the inherent constraints of the systems, such as bounded compensator...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8704180/ |
| _version_ | 1818854663534936064 |
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| author | Huan Yu Ying Chen Wenzhuo Shi Yi Xiong Jianhua Wei |
| author_facet | Huan Yu Ying Chen Wenzhuo Shi Yi Xiong Jianhua Wei |
| author_sort | Huan Yu |
| collection | DOAJ |
| description | Heave compensation systems are widely used to decouple the load motion from wave-induced vessel motion for the equipment handling on the ocean. Researches have been made to achieve successful compensation, yet few of them discusses the inherent constraints of the systems, such as bounded compensator's stroke and max actuator's velocity. This paper presents a solution for active heave compensation systems with such constraints by means of variable structure control. The controller's complexity on design procedures and effectiveness are compared with a trajectory planning control method which turns out that the variable structure controller is more suitable to apply to the active heave compensators. The back-stepping method is used to robustly stabilize this variable structure system and for the aim of a decrease on the high robust gain due to uncertain friction term, a modified decoupled friction observer is used which is also verified by both theoretical and experimental analyses. To compensate for the time delay of the motion reference unit (MRU), a heave prediction algorithm is used. The experimental results show that most heave motion can be compensated when the motion and its velocity are feasible, while no hit occurs otherwise. |
| first_indexed | 2024-12-19T07:56:17Z |
| format | Article |
| id | doaj.art-951b2034b7ea40218356bd430ef6285b |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T07:56:17Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-951b2034b7ea40218356bd430ef6285b2022-12-21T20:30:00ZengIEEEIEEE Access2169-35362019-01-017547705477910.1109/ACCESS.2019.29076748704180State Constrained Variable Structure Control for Active Heave CompensatorsHuan Yu0Ying Chen1Wenzhuo Shi2Yi Xiong3Jianhua Wei4State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, ChinaHangzhou Applied Acoustics Research Institute, Hangzhou, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, ChinaNantong Metalforming Equipment Co., LTD, Nantong, ChinaState Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, ChinaHeave compensation systems are widely used to decouple the load motion from wave-induced vessel motion for the equipment handling on the ocean. Researches have been made to achieve successful compensation, yet few of them discusses the inherent constraints of the systems, such as bounded compensator's stroke and max actuator's velocity. This paper presents a solution for active heave compensation systems with such constraints by means of variable structure control. The controller's complexity on design procedures and effectiveness are compared with a trajectory planning control method which turns out that the variable structure controller is more suitable to apply to the active heave compensators. The back-stepping method is used to robustly stabilize this variable structure system and for the aim of a decrease on the high robust gain due to uncertain friction term, a modified decoupled friction observer is used which is also verified by both theoretical and experimental analyses. To compensate for the time delay of the motion reference unit (MRU), a heave prediction algorithm is used. The experimental results show that most heave motion can be compensated when the motion and its velocity are feasible, while no hit occurs otherwise.https://ieeexplore.ieee.org/document/8704180/Heave compensationnonlinear state constrained controlvariable structure systemheave predictionnonlinear friction observer |
| spellingShingle | Huan Yu Ying Chen Wenzhuo Shi Yi Xiong Jianhua Wei State Constrained Variable Structure Control for Active Heave Compensators IEEE Access Heave compensation nonlinear state constrained control variable structure system heave prediction nonlinear friction observer |
| title | State Constrained Variable Structure Control for Active Heave Compensators |
| title_full | State Constrained Variable Structure Control for Active Heave Compensators |
| title_fullStr | State Constrained Variable Structure Control for Active Heave Compensators |
| title_full_unstemmed | State Constrained Variable Structure Control for Active Heave Compensators |
| title_short | State Constrained Variable Structure Control for Active Heave Compensators |
| title_sort | state constrained variable structure control for active heave compensators |
| topic | Heave compensation nonlinear state constrained control variable structure system heave prediction nonlinear friction observer |
| url | https://ieeexplore.ieee.org/document/8704180/ |
| work_keys_str_mv | AT huanyu stateconstrainedvariablestructurecontrolforactiveheavecompensators AT yingchen stateconstrainedvariablestructurecontrolforactiveheavecompensators AT wenzhuoshi stateconstrainedvariablestructurecontrolforactiveheavecompensators AT yixiong stateconstrainedvariablestructurecontrolforactiveheavecompensators AT jianhuawei stateconstrainedvariablestructurecontrolforactiveheavecompensators |