以回授線性化控制實現三軸離岸風機登塔系統調平控制之研究

IMPLEMENTATION OF A THREE──AXIAL OFFSHORE TURBINE ACCESS SYSTEM WITH ACTIVE MOTION COMPENSATION USING FEEDBACK LINEARIZATION CONTROL

本研究目的是以三軸主動式運動補償實現離岸風機登塔系統（TAS）的調平控制，以提升海上操作員在工作船與離岸風機間進出的安全性。離岸風機登塔系統研究包括機構設計、系統運動學分析、液壓伺服系統動態分析、控制器設計。對離岸風機登塔系統進行實驗，驗證了控制策略的有效性。為了開發調平控制策略，引入幾何投影法推導離岸風機登塔系統機構之系統末端點和驅動關節之間的運動學關係。基於系統的動態特性，推導簡化的系統數學模型，並將其應用於控制器設計。在控制策略中應用回授線性化理論來消除系統的非線性。本研究提出了一種結合傳統PID控制器和回授線性化理論的改進PID控制器，以實現離岸風機登塔系統的閉迴路運動補償控制。

The purpose of this study is to realize the leveling control of the turbine access system (TAS) through three-axial active motion compensation to enhance the safety of the offshore operator in the transfer between workboats and offshore wind turbine. The research of the TAS system includes the mechanism design, system kinematics analysis, hydraulic servo system dynamic analysis, controller design. Experiments of the TAS system were implemented to verify the effectiveness of the control strategy. In order to develop the leveling control strategy, the geometry projection method was introduced to investigate the kinematic relation between system end-effector and actuated joints in the TAS mechanism. Base on the system dynamic characteristics, the simplified system mathematical model was derived and applied for the controller design. The feedback linearization theory was applied in the control strategy to eliminate the nonlinearity of the system. This study proposed a modified PID controller combing conventional PID controller and feedback linearization theory to implement the closed-loop control for the TAS system.