Hydraulic valve-based active-heave compensation using a model-predictive controller with non-linear valve compensations

Woodacre, Jeffrey; Bauer, Robert; Irani, Rishad A.

doi:10.1016/j.oceaneng.2018.01.030

Cited by 54 publications

(32 citation statements)

References 11 publications

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“…As a final objective of this thesis, the fidelity of a wave prediction algorithm will be investigated as it applies to forecasting future breach conditions in any sea state. Short term signal prediction is already used in active heave compensation strategies [3]. In addition to objective one, the use of long term signal prediction of ship motion to determine when a towed body should commit to breach within motion thresholds will be studied.…”

Section: List Of Figuresmentioning

confidence: 99%

“…Woodacre et al [3] was able to build upon Kuchler et al [40] and use a version of the prediction algorithm as a previewing function for a Model-Predictive Control scheme (MPC). This chapter builds upon these works to generalize a Signal Prediction Algorithm (SPA) so that it can predict any periodic signal and presents the initial developments in defining the criteria required for a safe breach condition.…”

Section: Chapter 4 Advancing a Wave Prediction Algorithm For Breach Cmentioning

confidence: 99%

“…The signal prediction method based on the work of Kuchler et al [40] and Woodacre et al [3,41] is composed of three distinct parts: mode detection, estimation, and prediction. To predict the wave motion, the periodic components, or modes, must be identified.…”

Section: Signal Prediction Algorithmmentioning

confidence: 99%

“…To my siblings, Emma and Aaron, who shared my love of reading and always reminded me to pack a notebook and pencil before heading out the door. the payload underwater are known; previous research has developed a towed body active heave compensation (AHC) winch system that decouples the load motion from the ship heave motion [3]. In the system a winch reels-in or pays-out the cable to compensate for the vertical motion disturbance.…”

mentioning

confidence: 99%

“…In the system a winch reels-in or pays-out the cable to compensate for the vertical motion disturbance. Woodacre et al used a model predictive controller with prediction to perform the control action of the winch [3], [4].…”

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confidence: 99%

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Control, Simulation, and Testbed Development for Improving Maritime Launch and Recovery Operations

McPhee¹

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Improvements to launch and recovery operations at sea are driven by the desire to increase safety and operational availability. This thesis presents various tools to improve motion compensation strategies in maritime launch and recovery: a 3D computer simulator to examine wave synchronization, a signal prediction algorithm for Go-NoGo states and a hardware setup to simulate ship and wave motion. The 3D simulator of towed body dynamics was advanced to model the wave interactions with the cable and towed body as the body exits the water. Small scale simulations were run to investigate the inclusion of wave synchronization in established active heave compensation strategies where the hypothesis that wave synchronization would reduce variations in cable tension was not supported; the simulations demonstrated that wave synchronization increased variations in cable tension compared to simulations not using motion compensation. The use of a signal prediction method that forecasts a periodic signal based only on historic data of the signal was explored. The method is a means to predict safe breach events where the prediction algorithm was advanced and tuned to determine Go-NoGo states. A Go scenario identified by the mean and one standard deviation of the predicted signal was found to produce a Go-NoGo signal that agreed most with the desired Go-NoGo signal for forecasts up to 10 s. For the development of laboratory equipment for the Carleton University flume tank, a ship motion simulator was designed and built to emulate 5 degrees-of-freedom of ship motion and a kinematic analysis was performed to characterize the system workspace. For producing waves in the flume tank, a design methodology was developed for the design of a plunger-type wavemaker. A numerical model for determining the wave amplitude to actuator stroke length ratio was advanced to include the effects of a flow current. The design methodology enables the designer to select an appropriate actuator and plunger shape based on an operating point that incorporates multiple design variables.

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Section: List Of Figuresmentioning

confidence: 99%

Section: Chapter 4 Advancing a Wave Prediction Algorithm For Breach Cmentioning

confidence: 99%