By Wei He, Shuzhi Sam Ge, Bernard Voon Ee How, Yoo Sang Choo
Dynamics and regulate of Mechanical structures in Offshore Engineering is a accomplished therapy of marine mechanical platforms (MMS) excited about techniques of serious value similar to oil drilling and mineral restoration. starting from nonlinear dynamic modeling and balance research of versatile riser platforms, via complicated keep an eye on layout for an deploy method with a unmarried inflexible payload connected via thrusters, to strong adaptive regulate for mooring structures, it truly is an authoritative reference at the dynamics and keep an eye on of MMS. Readers will achieve not just an entire photo of MMS on the approach point, but additionally a greater knowing of the technical issues concerned and options to difficulties that in general come up from facing them.
The textual content presents:
· a whole framework of dynamical research and keep watch over layout for marine mechanical systems;
· new effects at the dynamical research of riser, mooring and deploy structures including a normal modeling approach for a category of MMS;
· a basic process and approach for knowing the keep watch over pursuits of marine structures with assured balance the effectiveness of that's illustrated through vast numerical simulation; and
· approximation-based keep an eye on schemes utilizing neural networks for deploy of subsea constructions with hooked up thrusters within the presence of time-varying environmental disturbances and parametric uncertainties.
Most of the consequences awarded are analytical with repeatable layout algorithms with confirmed closed-loop balance and function research of the proposed controllers is rigorous and detailed.
Dynamics and keep watch over of Mechanical platforms in Offshore Engineering is basically meant for researchers and engineers within the process and keep an eye on group, yet graduate scholars learning keep an eye on and marine engineering also will locate it an invaluable source as will practitioners engaged on the layout, operating or upkeep of offshore platforms.
Read Online or Download Dynamics and Control of Mechanical Systems in Offshore Engineering PDF
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Extra info for Dynamics and Control of Mechanical Systems in Offshore Engineering
1 is reasonable as the effects of the disturbances are largely attributed to the exogenous effects from the environment, which are finite and bounded. The knowledge of exact values for τ¯d,i are not required. The surface vessel is responsible for global positioning, while the thrusters on the payload are responsible for local positioning and activated close to the target site. To improve the performance further, the effects of the lift cable and coupling with the surface vessel will be investigated in future work.
Proof With the choice of α1 and τ as above, the time derivative of the Lyapunov function candidate V2 is negative semidefinite. The global asymptotic stability of 46 4 Installation System with Constraints Fig. , z1 (t), z2 (t) → 0, and the vessel position ys converges to the desired position ysd asymptotically. 2 Boundary Positioning Control Using Barrier Lyapunov Functions During subsea installation operations, positioning of the subsea module is desired. As the practical system is subjected to constraints on both the motion of the crane at the top boundary and the maximum offset the payload can deviate at the bottom boundary as shown in Fig.
29) where γ1 and γ2 are class K∞ functions. Let V (η) := V1 (z3 ) + U (w), and let z3 (0) belong to the set z3 ∈ (−kb , kb ). ∞). 12 (Barrier Lyapunov Function ) A BLF is a scalar function V (x), defined with respect to the system x˙ = f (x) on an open region D containing the origin, that is continuous, positive definite, has continuous first-order partial derivatives at every point of D, has the property V (x) → ∞ as x approaches the boundary of D, and satisfies V (x(t)) ≤ b, t ≥ 0, along the solution of x˙ = f (x) for x(0) ∈ D and some constant b.
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