Control system for 3D crane tip compensation

Title

Control system for 3D crane tip compensation

 Author

van Nes, Allard (TU Delft Mechanical, Maritime and Materials Engineering)

Contributor

van Wingerden, J.W. (graduation committee) ORCID 0000-0003-3061-7442
Elzinga, R. (mentor)

Degree granting institution

Delft University of Technology

 Date

2017-12-18

 Abstract

Offshore wind farms are a sustainable source of energy, but these farms require maintenance which is very expensive using the current techniques. Huisman Equipment B.V. proposed a new type of offshore motion compensated crane that is capable of reaching the height of the nacelle of these wind turbines. The crane has a compensation system on the tip consists of a telescoping slewing arm actuated by a hydraulic piston, and a hydraulic motor and slew drive, to compensate in the horizontal direction. Heave compensation is applied to compensate for crane tip movements in the vertical direction. Moreover the system compensates the relative position of the payload to the vibrating nacelle of the wind turbine. This thesis studies the requirements and feasibility of control for such a crane. The study includes an analysis and simulation of the requirements in both motion compensation and relative compensation. It was found that for motion compensation simple proportional controllers with load angle feedback suffices. For relative compensation control methods were synthesized through H infinity optimization, this lead to a 2nd order lead compensator. It was concluded that with simple proportional control the tip position stays within a mean squared distance of around 0.25 m during motion compensation. The load has residual angles of around 5 degrees. The main limiting factors in motion compensation are the ship motion measurements and the actuator dynamics. Also it was found that in order to realize relative compensation a control signal with high frequency (>0.24 Hz) and high amplitude (>1.24 m) is required raising questions about practical feasibility.

 Subject

motion compensation
Wind energy
Crane

 To reference this document use:

http://resolver.tudelft.nl/uuid:a1a5d43a-c34e-4cae-a207-0edffe2dfe1f

 Embargo date

2022-12-01

 Part of collection

Student theses

 Document type

master thesis

 Rights

© 2017 Allard van Nes
Files
PDF Control3D.pdf 5.81 MB
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