상하동요 보상 시스템(Heave compensation system)을 위한 능동제어 연구

Abstract

A dynamic model of heave compensation system and a simple PD control algorithm are established. The dynamic model of heave compensation system is composed of hydraulic driven winch, elastic rope, and payload. To consider static and dynamicbehavior of rope extension force equilibrium equations are formulated. A state-space model and it’s relative degree are derived in order to develop a control law which is a simple PD control. Simulation results show that the relative payload motion is stabilized after 5 seconds of transient state. Before switching on the active heave compensation controller, the maximum amplitude of the relative payload motion is 0.11m. On the other hand, the maximum amplitude is reduced to0.03m by the control action.ehavior of rope extension force equilibrium equations are formulated. A state-space model and it’s relative degree are derived in order to develop a control law which is a simple PD control. Simulation results show that the relative payload motion is stabilized after 5 seconds of transient state. Before switching on the active heave compensation controller, the maximum amplitude of the relative payload motion is 0.11m. On the other hand, the maximum amplitude is reduced to0.03m by the control action.