Title :
Active control of underwater installation
Author :
Sagatun, Svein I.
Author_Institution :
Res Centre, Norsk Hydro Exploration & Production, Oslo, Norway
fDate :
9/1/2002 12:00:00 AM
Abstract :
An augmented impedance control scheme is proposed together with passive heave compensation to achieve higher operability on offshore underwater installation. The dynamics of the controller, the crane, the water surface in the moonpool, and a detailed mathematical model of the hydrodynamic loads and load effects on the object hitting the water surface and proceeding through the splash zone are included. Stability of the controller is proven, and simulation results with relevant full-scale parameters are included
Keywords :
cranes; dynamics; marine systems; motion compensation; stability; active control; augmented impedance control scheme; controller dynamics; crane dynamics; hydrodynamic loads; moonpool; offshore underwater installation; passive heave compensation; splash zone; stability; underwater installation; water surface; Acceleration; Cranes; Damping; Drag; Force control; Frequency; Hydrodynamics; Mathematical model; Production; Surface impedance;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2002.801783
