Modeling of Active Heave Compensation System for Seafloor Drill
DOI:
https://doi.org/10.5890/JVTSD.2021.12.003Abstract
Aiming at the influences of wave in the process of launch & recovery of the seafloor drill, a velocity sensor is used to gather the data of the heave motion of ship, and a mathematical model of active heave compensation hydraulic serve control system for seafloor drill is established. The simulation of this model based on PID control is performed. The results show that the heave motion compensation control of seafloor drill using PID control makes the tracking accuracy more than 90%. This will improves the reliability and security of the seafloor drill in the process of launch and recovery.References
[1] Wan, B.Y., Jin, Y.P., and Huang, X.J. (2015), Development of 20m seafloor core sampling drill, Ocean Engineering Equipment and Technology, 2(1), 1-5.
[2] Jin, Y.P., Wan, B.Y., and Liu, D.S. (2019), Reliability analysis and experimental for key component of launch and recovery equipment of seafloor drill, Journal of Mechanical Engineering.
[3] Jun, F.U., Zhang, Y.B., Li, P., and et al. (2019), Application research of hydraulic Tong for seafloor template based on AMESim, Mechanical Engineer.
[4] Liu, D.S., Jin, Y.P., Wan, B.Y., and et al. (2014), Review and development trends of deep-sea mineral resource core sampling technology and equipment, Journal of Mechanical Engineering, 25(23), 3255-3265.
[5] Hong, K.S. and Ngo, Q.H. (2013), Dynamics of the container crane on a mobile harbor, Ocean Engineering, 53(2), 16-24.
[6] Jin, Y.P., Wan, B.Y., and Liu, D.S. (2018), A random numerical simulation method for launch and recovery system of seafloor drill, Journal of Mechanical Engineering, 54(23), 126-134.
[7] Wang, X.L., You, X.Y., and Hu, Y.J. (2010), Cargo pendulation analysis of moored crane ship under regular waves, Journal of Mechanical Engineering, 21(9), 1077-1081.
[8] Hong, K.S. and Ngo, Q.H. (2012), Dynamics of the container crane on a mobile harbor, Ocean Engineering, 53(none).
[9] Ismail, R.M.T.R., That, N.D., and Ha, Q.P. (2015), Modelling and robust trajectory following for offshore container crane systems, Automation in Construction, 59(NOV), 179-187.
[10] Wang, Z.L. (1999), A brief description of the dredge system design of drag suction dredger, Ship{$&$Boat}, 6, 31-38.
[11] Wang, H.B. and Wang, Q.F. (2008), Non-linear modeling and simulation of towed body passive heave compensation system, Journal of Zhejiang University(Engineering Science), 42(9), 1568-1572.
[12] Yang, W.L., Zhang, Z.Y., and Zhang, A.Q. (2007), Study of active heave compensation system for underwater vehicle, The Ocean Engineering, 25(3), 68-72.
[13] Wei, S.F., Yang, W.L., and Zhang, Z.Y. (2009), Research on the active heave control of hydraulic winch, Chinese Hydraulics $&$ Pneumatics, 7, 27-29.
[14] Quan, W., Liu, Y., Zhang, Z., and et al (2016), Scale model test of a semi-active heave compensation system for deep-sea tethered ROVs, Ocean Engineering, 126, 353-363.
[15] Adamson, J.E. (2003), Efficient heave motion compensation cable-suspended systems, Underwater Intervention, (1), 1-7.
[16] Li, M.J., Duan, M.L., Ye, M., and et al. (2014), Modeling and simulation of integrated heave compensation system for underwater lowering system, Chinese Hydraulics {$&$ Pneumatics}, 000(002), 25-30.
[17] Fossen, T.I., {O}yvind, N., and Smogeli. (2004), Nonlinear time-domain strip theory formulation for low-speed maneuvering and station-keeping, Modeling, Identification and Control (MIC), MIC-25(4), 201-221.
[18] Korde, U.A. (2014), On a near-optimal control approach for a wave energy converter in irregular waves, Applied Ocean Research, 46(46), 79--93.
[19] Wang, S. and Soares, C.G. (2016), Experimental and numerical study of the slamming load on the bow of a chemical tanker in irregular waves, Ocean Engineering, 111, 369-383.
[20] Jin, Y.P., Wan, B.Y., Liu, D.X., and et al. (2016), Numerical simulation of dynamic response characteristics for launch and recovery system under random irregular wave, Journal of Vibroengineering, 18(8), 5390-5405
[21] Low, Y.M. (2014), A simple surrogate model for the rainflow fatigue damage arising from processes with bimodal spectra, Marine Structures, 38(oct), 72-88.
[22] Jin, Y.P., Wan, B.Y., Liu, D.X., and et al. (2016), Dynamic analysis of launch & recovery system of seafloor drill under irregular waves, Ocean engineering, 117, 321-331.
[23] Carter, J.D. (2017), Bidirectional whitham equations as models of waves on shallow water, Wave Motion, 82.
[24] Pushkarev, A. and Zakharov, V. (2016), Limited fetch revisited: Comparison of wind input terms, in surface wave modeling. Ocean Modelling, 103, 18-37.
[25] Liang, L., Wang, B., and Ji, M. (2012), Adaptive fuzzy control for SWATH ship seakeeping characteristics. International Conference on Mechatronics & Automation. IEEE.
[26] Fossen, T.I. and Smogeli, O.N. (2004), Nonlinear time-domain strip theory formulation for low-speed manoeuvring and station-keeping, Modeling, Identification and Control, 25(4), 201-221.
Article Metrics
Usage tracking begins September 1, 2026.