Active control of underwater installation

被引：29
|
作者：
Sagatun, SI [1 ]
机构：
[1] Norsk Hydro Explorat & Prod Res Ctr, N-0246 Oslo, Norway
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2002年 / 10卷 / 05期
关键词：
heave compensation; hydrodynamics; impedance control; installation; underwater;
D O I：
10.1109/TCST.2002.801783
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An augumented impedance control scheme is proposed together with passive heave compansation to achive 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.
引用
收藏
页码：743 / 748
页数：6
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