標題: Development of an Offshore Turbine Access System with Four-Axial Active Motion Compensation
作者: Huang, Guan Ying; Lin, Sheng Chia; MAO-HSIUNG CHIANG
摘要: Turbine access system (TAS) plays an important role for safely transferring technicians between crew transfer vessel and offshore turbine tower in offshore wind farm operation and maintenance activities. This study proposed a four-axial TAS to compensate the surge displacement, heave displacement, pitch angle and roll angle of end-effector under wave condition of Taiwan Strait and load test, and developed a model reference robust adaptive controller (MRRAC), to keep the compensation performance when the technician is standing on the end-effector.