自組織模糊滑動控制應用於多軸風機登塔系統調平控制之研究

Self-Organizing Fuzzy Sliding Mode Control for Leveling Control of Multi-axial Turbine Access System

許名竣(Ming-Chun Hsu)

指導教授 ： 江茂雄

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2018年)

https://doi.org/10.6342/NTU201804297

摘要

本研究旨在發展離岸風場運轉維護所需之風機登塔系統，結合運動學推導、液壓伺服系統、動態模型建立、控制系統設計，建構出實驗原型系統以進行實際測試，期望有效減少海浪導致船體運動所造成的登塔點晃動，降低登塔點橫搖角度、垂向高度變化以及垂向加速度，以達到主動式運動補償之效果，使風機維護人員可安全進出維修船與離岸風機。
模擬部分首先將SOLIDWORKS軟體所設計之機構3D元件，匯入ADAMS機構動態模擬軟體建立機構動態模型，接著將建立好的模型匯出至MATLAB/SIMULINK環境進行控制器的設計與分析，整合ADAMS之機構動態及MATLAB/SIMULINK之液壓系統及控制系統，進行全系統整合動態模擬分析，驗證離岸風機登塔系統之控制效果。
實驗部分先以給定的海浪參數做為控制系統的輸入，經由實驗機台的實際運動補償登塔點橫搖角度、垂向高度變化以及垂向加速度，接著再改以陀螺儀讀取船體縱搖角度、橫搖角度以及垂向高度變化作為控制系統的輸入，進行主動補償控制實驗，使輸入訊號更接近實際船體受海浪衝擊所造成的晃動，實現離岸風機登塔系統主動運動控制補償。

關鍵字

離岸風機登塔系統 ； 主動式運動補償控制 ； 多軸運動平台 ； 陀螺儀 ； 運動學分析 ； 動態模擬

並列摘要

The purpose of this study is to develop an offshore wind turbine access system (TAS) for the operation and maintenance of offshore wind farms. By combining kinematics, hydraulic servo systems, dynamic modeling, and control system design, a full-scale test rig of TAS is set up for practical experiment to effectively reduce the impact caused by the wave motion. The rolling angle, the vertical height and the vertical acceleration of the end effector of TAS can be effectively reduced through the active motion compensation control of TAS for improving the access safety of the offshore wind turbine.
Through the mechanism design by SOLIDWORKS software and then importing the 3D models to software ADAMS, the dynamic modeling and simulation of mechanism can be implemented. Besides, the modeling of hydraulic driving system and the closed-loop control system of the active motion compensation control are achieved via MATLAB/SIMULINK. Then, through the co-simulation of ADAMS and MATLAB/SIMULINK, the dynamic model of TAS is exported from ADAMS into the MATLAB/SIMULINK environment to process the dynamic co-simulation for closed-loop active compensation control of TAS and verifying the effect of active compensation control system of TAS.
In the experiment, we first use the given wave parameters as the input of the control system to implement the closed-loop active compensation control in the test rig. Besides, we also use the motion sensor to measure the roll angle, pitch angle, and vertical height of ship as the input for preparing for the sea test in the future.

並列關鍵字

offshore wind turbine access system ； active motion compensation ； motion sensor ； kinematics ； dynamic simulation

參考文獻

[1] J. Twidel. and. G. Gaudiosi, "Offshore Wind Power, 1 ed," Multi-Science Publishing Co. Ltd., 2014.

[2] CTruk. Products and Systems-MPC28 [Online]. Available:http://www.ctruk.com/products/MPC28

[3] Osbit. Osbit Power supplies Japan’s first offshore wind farm with revolutionary safety equipment [Online]. Available: https://www.osbit.com/

[4] Momac-robotics.de. Download MOTS - Momac Offshore Access System [Online]. Available: http://www.momac-robotics.de/Download-MOTS.html

[5] Houlder. TAS steps up to turbine access challenge - Houlder [Online].Available: https://www.youtube.com/watch?v=LZC9QDqkk88