以自組織模糊滑動模式控制應用於離岸風機水下基礎具動態補償之抱樁扶正系統之研究

Abstract

隨著離岸風電產業的興起，各國紛紛開始開發離岸風場，而水下基礎的建設為其中重要一環。離岸風機水下基礎的安裝仰賴抱樁扶正系統，此系統負責執行扶正與固定樁柱垂直度之工作，使樁柱不會因為船舶的晃動而導致滑樁，造成船員的危險。 本研究提出一主動式補償機構，來補償樁柱受波浪影響所產生的樁柱的x方向位移及y方向位移，使樁柱在海上打樁時保持一定的垂直度，避免滑樁等情況發生。研究內容包括可動態補償之抱樁扶正系統機構設計、機構運動學分析、液壓伺服系統動態分析及控制系統設計，並進行系統整合模擬，以驗證補償機構之性能。 離岸風機水下基礎之抱樁扶正系統機構的部分以Solidworks進行可動態補償之抱樁扶正系統設計，再匯入ADAMS進行機構動態建模及分析，而正逆向運動學、液壓伺服系統與控制器則透過MATLAB/SIMULINK建立其模型，其中控制器的部分採用自組織模糊滑動控制器（SOFSMC），最後結合ADAMS機構動態分析與MATLAB/SIMULINK進行系統整合模擬，來驗證主動式補償機構的效能是否符合需求。 透過整合模擬的結果可以推斷，本論文所提出之可動態補償之抱樁扶正系統能有效減小樁柱在x和y方向的位移以及偏斜度，以及自組織模糊滑動控制器在可動態補償之抱樁系統有足夠的穩健性。

With the rise of the offshore wind power industry, countries worldwide have begun developing offshore wind farms, with underwater foundations being an essential component. The installation of underwater foundations relies on a pile holding and centralizer system that ensures the verticality of the piles, preventing sliding caused by the motion of vessels and ensuring the safety of crew members. This study proposes an active compensation mechanism to mitigate the displacement in the x-direction and displacement in the y-direction of the piles induced by wave action. The mechanism aims to maintain a certain level of verticality for the piles during offshore piling operations, avoiding undesirable situations such as pile sliding. The research includes the design of a dynamic compensating pile holding and centralizer system, kinematic analysis of the mechanism, dynamic analysis of the hydraulic servo system, and the design of the control system. System integration simulations are conducted to validate the performance of the compensation mechanism. The design of the pile holding and centralizer system mechanism is carried out using Solidworks, followed by dynamic modeling and analysis using ADAMS. The forward and inverse kinematics, hydraulic servo system, and controller are modeled using MATLAB/SIMULINK. The controller utilizes a self-organizing fuzzy sliding mode controller. Finally, the ADAMS dynamic analysis and MATLAB/SIMULINK simulations are combined for system integration simulations to verify the effectiveness of the active compensation mechanism. Based on the results of the integrated simulations, it can be inferred that the proposed motion compensated pile gripper system effectively reduces the displacement and inclination of the pile in the x and y directions.. Additionally, the self-organizing fuzzy sliding controller exhibits sufficient robustness in the motion compensated pile gripper system.