Force Actuated Real-Time Hybrid Model Testing of a Moored Vessel: A Case Study Investigating Force Errors

Ueland, Einar Skiftestad; Skjetne, Roger; Vilsen, Stefan Arenfeldt

doi:10.1016/j.ifacol.2018.09.472

Cited by 6 publications

(20 citation statements)

References 3 publications

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“…Notice the four nylon strings used to apply the numerically calculated mooring loads onto the ship. See [6,8].…”

Section: Motionsmentioning

confidence: 99%

“…In our experience, placement of actuators in previous ReaTHM testing CDPR setups, such as [3,6,8], has mostly been determined using a practical and heuristic approach, i.e., for a given ReaTHM testing scenario, the actuators have been placed based on simplified analysis, experiential experience and intuitive understanding -with limited systematic analysis. At the time of this publication, no guidelines exist for actuator placement for ReaTHM testing using CDPR.…”

Section: Motionsmentioning

confidence: 99%

“…In ReaTHM testing, precisely applying the calculated loads onto the marine platform is particularly important to achieve high fidelity in replicating the non-substructured ocean structure's behaviour [8,30,31]. Although there are many performance measures for CDPR setups, these are in our opinion, not appropriate for ReaTHM testing-as this application requires a different set of priorities, as elaborated next.…”

Section: Motionsmentioning

confidence: 99%

“…Although there are many performance measures for CDPR setups, these are in our opinion, not appropriate for ReaTHM testing-as this application requires a different set of priorities, as elaborated next. Table 1 lists characteristic differences between CDPR used in ReaTHM testing [2,6,8] and typical 1 CDPR setups used for other applications ( [10] [Ch 2.4]). The practical implications of these differences are as follows:…”

Section: Motionsmentioning

confidence: 99%

“…The loads applied by the cabled actuators are in addition to other external loads (typically hydrodynamic) acting on the platform. The applied loads should not be disturbed by the external loads, nor the platform's movements [8].…”

Section: ) External Forcesmentioning

confidence: 99%

See 4 more Smart Citations

Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots

Ueland

Sauder

Skjetne

2021

JMSE

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In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under consideration into a numerical and a physical substructure, coupled in real time via a measurement and control interface. The numerically computed load vector is applied to the physical substructure by means of multiple actuated winches so that the resulting experimental platform becomes a type of cable-driven parallel robot. In this context, the placement of the actuated winches is important to ensure that the loads can be accurately and robustly transferred to the physical substructure. This paper addresses this problem by proposing a performance measure and an associated actuator placement procedure that enables accurate force tracking and ensures that the numerically calculated loads can be actuated throughout the testing campaign. To clarify the application of the proposed procedure, it is applied to the design of a test setup for a moored barge. Overall, the paper represents a guideline for robust and beneficial actuator placement for real-time hybrid model testing using cable-driven parallel robots for load-actuation.

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“…Notice the four nylon strings used to apply the numerically calculated mooring loads onto the ship. See [6,8].…”

Section: Motionsmentioning

confidence: 99%

Section: Motionsmentioning

confidence: 99%