- 學位論文
以線性回授控制實現三軸離岸風機登塔系統主動調平控制之研究
Leveling Control of an Offshore Turbine Access System with Three-Axial Active Motion Compensation Using Feedback Linearization Control
摘要
本論文旨在研究離岸風場施工與維護時使人員在船舶與風機間安全移動的登塔系統，利用主動式的機構補償波浪對於船體造成的晃動，降低人員落海的風險。研究內容包含機構設計、機構運動學分析、液壓伺服系統動態分析、控制系統設計，並進行系統整合模擬及實際控制實驗，以實際驗證系統之性能。 主動調平控制策略，使用幾何投影法分析登塔點變動與補償機構間的運動學關係。接著建立液壓伺服系統的數學模型，並利用動態模擬軟體建立機構動態模型，進行系統動態分析。依據系統的動態特性，建立簡化系統數學模型進行控制器設計。控制器設計方面，基於先前分析的簡化系統模型，設計回授線性化的補償器修正系統的非線性，並搭配PID控制器來實現離岸風機登塔系統閉迴路控制。 系統整合模擬以MATLAB/SIMULINK 實現正逆向運動學，液壓伺服系統模擬與控制器設計。而系統機構部分利用多體動力學模擬軟體ADAMS進行機構動態建模。最後將ADAMS 所建立的動態模型整合至MATLAB/SIMULINK 環境進行系統整合模擬，驗證控制策略與補償機構之可行性。 控制實驗部分，以論文提出的主動調平控制策略，實際控制三軸離岸風機登塔機構，與整合模擬的結果相互驗證，並測試系統在不同海況下的補償效果，最後以實際慣性感測元件之量測值作為系統運動補償之輸入，檢驗系統整合與補償效果，實驗證實本文所發展以線性回授控制實現三軸離岸風機登塔系統主動調平控制之性能。
並列摘要
The purpose of this thesis 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. Simulation and experiment 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. The models of the hydraulic servo system and the mechanism were established to analyze the system dynamics characteristic. 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 thesis proposed a modified PID controller combing conventional PID controller and feedback linearization theory to implement the closed-loop control for the TAS system. In the simulation, the kinematics algorithm, hydraulic servo system model and controller were implemented via MATLAB/SIMULINK. The dynamic model of the TAS mechanism was established through the dynamic simulation software ADAMS. Through the co-simulation interface, the dynamic model of the TAS mechanism can be integrated into the MATLAB/SIMULINK environment to execute the control simulation and analysis. In the experiment, the leveling control strategy was applied in the control of the full-scale TAS test rig. In the experiment the performance and effectiveness of the TAS system in different wave condition was tested and verified. Finally, the TAS system with Inertia Measurement Unit (IMU) for ship motion measurement was developed and verified for the practical applications.