Learning Tracking Controller for Installation of Flexible Structure under Unknown Disturbances

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概要

• 論文の詳細を見る

• During the installation operations of offshore or underwater structures, the major disturbances are steady nonlinear hydrodynamic force due to ocean current, tidal current and hydrodynamic interaction between structures. Generally, it is difficult and takes high cost to collect information of these disturbances in advance, which is important and necessary for the precise installation. Considering these situations, we have proposed Learning Tracking Controller (LTC) for automated tracking/docking operations of offshore flexible structures. The LTC has such potentials on the installation or construction of underwater structure at deep water depth under unknown currents that the structure can be installed precisely on the desired point on seabed. The proposed LTC can be operated without any information about current, and can be applied to the installation problem of flexible structures whose flexibility can not be ignored. By this method automated construction of very large structure, assembly of the onshore fabricated partitioned structures on site will become possible. In order to confirm the possibility and effectiveness of the LTC, basin tests are carried out under unknown current whose maximum speed is 0.07m/s. The experimental system is consisted of ultrasound ranging system and thrusters. Two types of experimental models, a flat flexible structure and a cubic rigid structure, are designed. In the experiments, both models were successfully made to track the given trajectory and dock to the docking targets within docking accuracy of ±5mm, after tracking the trajectory six to seven times for learning. No elastic responses of the flexible model were stimulated.

• 財団法人日本海事協会の論文

著者

• SUZUKI Hideyuki

  Department of Food Science and Technology, Faculty of Agriculture, Kyoto University

• Qi Tao

  Aker Maritime Inc.

• Watanabe Keisuke

  Department Of Cardiovascular Medicine Graduate School Of Medical Sciences Kumamoto University

• Watanabe Keisuke

  Department Of Marine Design And Engineering Tokai University

• Suzuki Hideyuki

  Department Of Environmental And Ocean Engineering University Of Tokyo

• Suzuki Hideyuki

  Department Of Biological Science And Technology Science University Of Tokyo

• Watanabe Keisuke

  Department Of Anesthesiology Nara Medical University

• Suzuki Hideyuki

  Department Of Bio-medical Engineering School Of High-technology For Human Welfare Tokai University

• Suzuki Hideyuki

  Department of Environmental and Ocean Engineering, University of Tokyo

• Watanabe Keisuke

  Department of Marine Design and Engineering, Tokai University

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