標題: IMPLEMENTATION OF A THREE-AXIAL OFFSHORE TURBINE ACCESS SYSTEM WITH ACTIVE MOTION COMPENSATION USING FEEDBACK LINEARIZATION CONTROL
作者: Lee, F. C.; Lin, S. C.; MAO-HSIUNG CHIANG
摘要: The purpose of this study 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. Experiments 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. 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 study proposed a modified PID controller combing conventional PID controller and feedback linearization theory to implement the closed-loop control for the TAS system.