液壓多軸運動控制系統應用於台灣離岸風場施工船舶之研究

Abstract

本研究旨在發展適用於台灣離岸風場運轉維護所需之調平系統，包含側向拋石落管系統(SSDS)、三軸主動式補償船艏安全登塔梯系統(TAS with 3-DOF compensation)、六軸主動式補償船艏安全登塔梯系統(TAS with 6-DOF compensation)三大部分。三者皆包含機構設計、液壓驅動系統、控制系統設計、動態模型及閉迴路動態模擬分析之建立。實驗部分則針對三軸及六軸主動式補償船艏安全登塔梯系統建立全尺寸實驗機台進行驗證。 本研究根據財團法人船舶暨海洋產業研發中心依台灣海峽海況之設計條件，所提供之船舶設計及船體運動，側向拋石落管系統針對三自由度(Roll, Pitch, Heave)設計三軸運動控制系統，改善落石範圍，在海況有義波高1米、週期7.5秒下，落石點之範圍在補償後可改善至未補償的1/16，滿足設計條件之需求並達到精準拋石之目的。三軸及六軸主動式補償船艏安全登塔梯系統部分，亦根據船舶中心所提供之船體運動，並針對特定入塢方式，設計對應之三軸及六軸船艏安全登塔梯系統補償船體運動。三軸船艏安全登塔梯系統在海況有義波高1米、週期7.5秒下，在模擬及實驗中，登塔系統之末端點在垂向運動皆能減少至未補償的1/2、橫搖運動皆能減少至未補償的1/5、垂向加速度皆能減少至未補償的1/2。六軸船艏安全登塔梯系統在海況有義波高0.5米、週期7.5秒下，登塔系統之末端點在三旋轉自由度(Roll, Pitch, Yaw)皆能減少至未補償的1/5，在另三自由度(Sway, Surge, Heave)皆能減少至未補償的1/2。無論是三軸或六軸船艏安全登塔梯系統，皆滿足設計條件之需求並使維修人員能夠安全進入離岸風機塔柱。 動態模擬以機構動態模擬軟體ADAMS建立動態模型；而正逆向運動學、液壓系統動態模擬及控制器以MATLAB/SIMULINK進行實現；最終將ADAMS動態模型匯出至MATLAB/SIMULINK進行整合模擬，進行全系統整合動態模擬分析，分別驗證這三種機構之可行性。 實驗部分，分別開發三軸及六軸船艏安全登塔梯系統實驗原型系統，配合控制策略進行離岸風機登塔系統閉迴路控制實驗，驗證模擬之準確性，有效降低登塔點垂向高度變化、登塔點橫搖角度及登塔點垂向加速度，實現離岸風機船艏安全登塔梯系統主動運動控制補償。

The purpose of this study is to develop the hydraulic compensation systems suitable for the operation and maintenance of offshore wind farms in Taiwan Strait, including a Side Stone Dumping System (SSDS), a Turbine Access System (TAS) with 3-DOF compensation and a Turbine Access System (TAS) with 6-DOF compensation. The proposed three systems include novel integration of mechanism design, hydraulic driving systems, control systems, dynamic modeling and closed-loop dynamic simulation. The test rigs of the TAS with 3-DOF compensation and the TAS with 6-DOF compensation were set up for the experimental verification. According to the Taiwan Strait sea condition based ship motion proposed by the Ship and Ocean Industries R&D Center (SOIC), SSDS with three-axial active motion control system was designed to limit the range of dumping rocks and achieve accurate dumping. Under the sea conditions with wave period of 7.5 sec and significant wave height of 1 m, the range of dumping rocks can be reduced to 1/16 compared with no compensation, and the requirements of design conditions are satisfied in accordance with the simulation results. In addition, this study developed two different TAS to ensure safety during maintenance, such as TAS with 3-DOF compensation and TAS with 6-DOF compensation. In both simulation and experiment of TAS with 3-DOF compensation under sea conditions with wave period of 7.5 sec and significant wave height of 1 m, the vertical displacement, roll angle and vertical acceleration of end effecter can be reduced to 1/2, 1/5 and 1/2 compared with no compensation, respectively. Besides, in both simulation and experiment of TAS with 6-DOF compensation under sea conditions with wave period of 7.5 sec and significant wave height of 0.5 m, the 6-DOF roll, pitch, yaw, sway, surge and heave of end effector can be reduced to 1/5, 1/5, 1/5, 1/2, 1/2 and 1/2 compared with no compensation, respectively. Therefore, whether TAS with 3-DOF or 6-DOF compensation, the requirements of design conditions can be satisfied by the simulation and experiments results. In the simulation, the dynamic modelling of the mechanism was implemented by ADAMS software. The dynamic modeling of hydraulic driving system and control system were derived and implemented via MATLAB/SIMULINK. Then, the dynamic simulation of SSDS, TAS with 3-DOF compensation and TAS with 6-DOF compensation were achieved through the co-simulation of ADAMS and MATLAB/SIMULINK to verify the active compensation control performance of all three systems. In the experiment, the full-scale TAS test rigs were set up to verify the performance of the active compensation control systems experimentally. The vertical height, rolling angle, pitching angle, yawing angle and vertical acceleration of the TAS end effector can be reduced and validated by practical experiments.