具主動式運動補償之船艏安全登塔梯系統設計與模擬分析

Abstract

本研究旨在發展離岸風場運轉維護所需之船艏安全登塔梯系統，進行機構、液壓伺服系統及控制系統之設計及動態模型建立，並進行動態模擬與分析，有效降低登塔點垂向高度變化百分之五十及垂向加速度大小低於0.2G，以達到主動式運動補償，使維修人員更安全的進出離岸風機與維修船。 首先將以SOLIDWORKS所設計之機構3D圖檔，匯入至ADAMS機構動態模擬軟體，並進行各部件關節設定及運動特性建置；推導液壓驅動系統動態模式及進行控制系統設計，以MATLAB/SIMULINK來實現。最終整合ADAMS之機構動態及MATLAB/SIMULINK之液壓系統及控制系統動態，進行全系統整合動態模擬，將ADAMS機構動態模型匯出至MATLAB/SIMULINK環境，進行複雜機構及控制系統動態整合模擬及分析。 除了上述動態建模與模擬外，船艏安全登塔梯系統的運動學分析也是必要的。為了達到主動式運動補償，透過逆向運動學的幾何分析方法，考慮登塔點在各種船舶運動的情況下，致動器（液壓缸）與登塔點之間的運動關係，此部分也是由MATLAB/SIMULINK來實現。 本論文利用ADAMS及MATLAB/SIMULINK軟體整合動態分析，其中包含逆向運動學分析、單軸液壓系統開迴路模擬、加入PID控制器之閉迴路軌跡追蹤模擬，最後，在三組不同的船舶運動下，進行全系統之閉迴路模擬，實現船艏安全登塔梯進行主動式運動補償，有效降低登塔點的垂向高度及加速度變化。

This study aims to investigate a new offshore wind turbine access system (TAS), including design, dynamic modeling and simulation of TAS mechanism, hydraulic driving system and control system, for reducing fifty percent of the vertical height variation and the vertical acceleration below 0.2G of the end effector of TAS through the active motion compensation. The safety to access the offshore wind turbine can be improved. First, through the mechanism design and importing the 3D models drafted by SOLIDWORKS software, the dynamic modeling and simulation can be implemented by software ADAMS (Automated Dynamic Analysis of Mechanical Systems), and the motion characteristics of each components and joints can be set. Besides, the hydraulic driving system and the closed-loop control system is designed and dynamically modeling and implemented via MATLAB/SIMULINK. Then, through developing the co-simulation of ADAMS and MATLAB/SIMULINK, the dynamic model of TAS is exported from ADAMS into the MATLAB/SIMULINK environment to process the dynamic co-simulation and analysis of complex mechanism and control of TAS. Besides the dynamic analysis, the kinematic analysis of TAS is also necessary for the active motion compensation control. Thus, the motion relationship between the actuators and end effector in all kinds of vessel motion is considered by the geometry method of inverse kinematics which is also implemented via MATLAB/SIMULINK. In this study, the co-simulation of the dynamic models of TAS through ADAMS and MATLAB/SIMULINK, including the inverse kinematics analysis, the open-loop control of hydraulic driving systems, and the closed-loop path tracking control by PID controllers. Finally, the closed-loop simulation of overall system is well performed to achieve active motion compensation and reduce the vertical height variation during three different ship motions.