State Constrained Variable Structure Control for Active Heave Compensators

Heave compensation systems are widely used to decouple the load motion from wave-induced vessel motion for the equipment handling on the ocean. Researches have been made to achieve successful compensation, yet few of them discusses the inherent constraints of the systems, such as bounded compensator’s stroke and max actuator’s velocity. This paper presents a solution for active heave compensation systems with such constraints by means of variable structure control. The controller’s complexity on design procedures and effectiveness are compared with a trajectory planning control method which turns out that the variable structure controller is more suitable to apply to the active heave compensators. The back-stepping method is used to robustly stabilize this variable structure system and for the aim of a decrease on the high robust gain due to uncertain friction term, a modified decoupled friction observer is used which is also verified by both theoretical and experimental analyses. To compensate for the time delay of the motion reference unit (MRU), a heave prediction algorithm is used. The experimental results show that most heave motion can be compensated when the motion and its velocity are feasible, while no hit occurs otherwise.

[1]  焦宗夏,et al.  A practical nonlinear adaptive control of hydraulic servomechanisms with periodic-like disturbances , 2015 .

[2]  Rishad A. Irani,et al.  A review of vertical motion heave compensation systems , 2015 .

[3]  A. Soom,et al.  Friction at a Lubricated Line Contact Operating at Oscillating Sliding Velocities , 1990 .

[4]  Youan Zhang,et al.  Sliding mode control based impact angle control guidance considering the seeker׳s field-of-view constraint. , 2016, ISA transactions.

[5]  Zongxia Jiao,et al.  Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping , 2014, IEEE Transactions on Industrial Electronics.

[6]  Jia Ni,et al.  The simulation research on passive heave compensation system for deep sea mining , 2009, 2009 International Conference on Mechatronics and Automation.

[8]  Martin Buss,et al.  INVARIANCE CONTROL DESIGN FOR CONSTRAINED NONLINEAR SYSTEMS , 2004 .

[9]  Kai Guo,et al.  Nonlinear Robust Prediction Control of Hybrid Active–Passive Heave Compensator With Extended Disturbance Observer , 2017, IEEE Transactions on Industrial Electronics.

[10]  Martin Buss,et al.  Continuous control mode transitions for invariance control of constrained nonlinear systems , 2007, 2007 46th IEEE Conference on Decision and Control.

[11]  Alberto Bemporad,et al.  Model predictive control based on linear programming - the explicit solution , 2002, IEEE Transactions on Automatic Control.

[12]  Keng Peng Tee,et al.  Control of nonlinear systems with full state constraint using a Barrier Lyapunov Function , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[13]  D. Goldberg,et al.  Performance evaluation of active wireline heave compensation systems in marine well logging environments , 2013, Geo-Marine Letters.

[14]  George T.-C. Chiu,et al.  Adaptive robust motion control of single-rod hydraulic actuators: Theory and experiments , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[15]  Meyer Nahon,et al.  A comparison between ship-mounted and cage-mounted passive heave compensation systems , 1998, IEEE Oceanic Engineering Society. OCEANS'98. Conference Proceedings (Cat. No.98CH36259).

[16]  Zongxia Jiao,et al.  Adaptive Control of Hydraulic Actuators With LuGre Model-Based Friction Compensation , 2015, IEEE Transactions on Industrial Electronics.

[17]  Liujun Li,et al.  Modeling and simulation of active-controlled heave compensation system of deep-sea mining based on dynamic vibration absorber , 2009, 2009 International Conference on Mechatronics and Automation.

[18]  Alberto Bemporad,et al.  Reference governor for constrained nonlinear systems , 1998, IEEE Trans. Autom. Control..

[19]  Francis Eng Hock Tay,et al.  Barrier Lyapunov Functions for the control of output-constrained nonlinear systems , 2009, Autom..

[20]  N. D. Vaughan,et al.  Comparison of Sliding Mode Control With State Feedback and PID Control Applied to a Proportional Solenoid Valve , 1996 .

[21]  R. Mahony,et al.  Integrator Backstepping using Barrier Functions for Systems with Multiple State Constraints , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[22]  N. Woodall-Mason,et al.  Value of heave compensators to floating drilling , 1976 .

[23]  Bernard Friedland,et al.  On adaptive friction compensation , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[24]  J. Neupert,et al.  A heave compensation approach for offshore cranes , 2008, 2008 American Control Conference.

[25]  G. Franklin,et al.  Proximate time-optimal control of third-order servomechanisms , 1993, IEEE Trans. Autom. Control..

[26]  Carlos Canudas de Wit,et al.  A new model for control of systems with friction , 1995, IEEE Trans. Autom. Control..

[27]  David Q. Mayne,et al.  Constrained model predictive control: Stability and optimality , 2000, Autom..

[28]  A. Lloyd,et al.  Seakeeping: Ship Behaviour in Rough Weather , 1998 .

[29]  M. Saad,et al.  Identification and Real-Time Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping , 2007, IEEE/ASME Transactions on Mechatronics.

[30]  Panagiotis D. Christofides,et al.  Stabilization of nonlinear systems with state and control constraints using Lyapunov-based predictive control , 2005, ACC.

[31]  Derek White,et al.  Design and operational performance of a standalone passive heave compensation system for a work class ROV , 2009, OCEANS 2009.

[32]  Yu Huan,et al.  Predictive Robust Control Based on Higher-Order Sliding Mode for Passive Heave Compensator With Hydraulic Transformer , 2018 .

[33]  Jinhui Fang,et al.  Improved sliding-mode control for servo-solenoid valve with novel switching surface under acceleration and jerk constraints , 2017 .

[34]  Liang Yan,et al.  High-Accuracy Tracking Control of Hydraulic Rotary Actuators With Modeling Uncertainties , 2014, IEEE/ASME Transactions on Mechatronics.

[35]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[36]  Hanz Richter,et al.  Robust Positively Invariant Cylinders in Constrained Variable Structure Control , 2007, IEEE Transactions on Automatic Control.