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Set-Point Algorithms for Active Heave Compensation of Towed Bodies

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Set-Point Algorithms for Active Heave Compensation of Towed Bodies SET-POINT ALGORITHMS FOR ACTIVE HEAVE COMPENSATION OF TOWED BODIES by Clark Calnan Submitted in partial fulfilment of the requirements for the degree of Master of Applied Science at Dalhousie University Halifax, Nova Scotia December 2016 © Copyright by Clark Calnan, 2016 To my family; you have encouraged my curiosity. ii TABLE OF CONTENTS Table of Contents ......................................................................................................................................... iii List of Tables ................................................................................................................................................ v List of Figures .............................................................................................................................................. vi Abstract ........................................................................................................................................................ ix List of Abbreviations and Symbols Used ..................................................................................................... x Acknowledgements .................................................................................................................................... xiii Chapter 1 Introduction .......................................................................................................................... 1 Chapter 2 Cable Models and Heave Compensation .............................................................................. 9 2.1. Heave Compensation .................................................................................................................. 9 2.1.1. Passive Heave Compensation ............................................................................................. 10 2.1.2. Active Heave Compensation .............................................................................................. 15 2.1.3. Semi-Active Heave Compensation .................................................................................... 19 2.2. Cable Simulations ..................................................................................................................... 23 2.3. Summary ................................................................................................................................... 31 Chapter 3 Set-Point Algorithm Development ..................................................................................... 33 3.1. Set-Point Algorithms ................................................................................................................ 33 3.1.1. Waterline Set-Point Algorithm ........................................................................................... 34 3.1.2. Sheave Set-Point Algorithm ............................................................................................... 36 3.2. Flume-Scale Test Environment ................................................................................................. 39 3.2.1. Flume Tank ........................................................................................................................ 41 3.2.2. Flume-Scale Towed System ............................................................................................... 43 3.2.3. Simulated Ship Motion....................................................................................................... 46 3.2.4. Sheave Angle Measurement ............................................................................................... 48 3.2.5. Towed Body Motion Capture ............................................................................................. 49 3.3. System Identification and PD Controller Tuning ..................................................................... 54 3.4. Results ....................................................................................................................................... 61 3.4.1. Ellipsoid Fitting .................................................................................................................. 61 3.4.2. Experimental Results.......................................................................................................... 63 3.5. Summary ................................................................................................................................... 68 Chapter 4 Flume-Sale Computer Simulation ...................................................................................... 70 4.1. Cable Model Development ....................................................................................................... 70 4.1.1. Towed System .................................................................................................................... 70 4.1.2. External Effects .................................................................................................................. 78 4.2. Simulation Results .................................................................................................................... 88 4.2.1. Flume Tank Simulation ...................................................................................................... 88 4.2.2. Alternate Geometry Test Environment .............................................................................. 97 4.3. Summary ................................................................................................................................... 99 iii Chapter 5 Full-Scale Computer Simulation ...................................................................................... 101 5.1. Full-Scale Simulator ............................................................................................................... 101 5.2. Results ..................................................................................................................................... 106 5.2.1. Test Case Results ............................................................................................................. 106 5.2.2. Error Sensitivity ............................................................................................................... 110 5.3. Summary ................................................................................................................................. 111 Chapter 6 Conclusion ........................................................................................................................ 113 6.1. Contribution One: Set-Point Algorithm Development ........................................................... 113 6.2. Contribution Two: Set-Point Algorithm Comparison ............................................................. 114 6.3. Contribution Three: Simplified and Rigorous Set-Point Algorithm Approaches ................... 114 6.4. Future Work ............................................................................................................................ 115 References ................................................................................................................................................. 117 iv LIST OF TABLES Table 2.1: Nomenclature of Figure 2.11. .................................................................................................... 24 Table 2.2: Nomenclature for Equations (2.9), (2.10), and (2.11) ............................................................... 27 Table 2.3: Nomenclature for Equations (2.12) through (2.16) ................................................................... 29 Table 3.1: Flume-scale and full-scale towed system parameters. ............................................................... 46 Table 3.2: Nomenclature for system model of DC winch motor in Equations (3.9) and (3.10) ...................................................................................................................................... 55 Table 4.1: Tow cable and sphere parameters. ............................................................................................. 72 Table 4.2: Dynamic tow cable parameters .................................................................................................. 77 Table 4.3: Standard deviation of towed sphere motion path in XE, YE, and ZE directions for no test mechanism motion. ..................................................................................................... 91 Table 4.4: Standard deviation of towed sphere motion path in XE, YE, and ZE directions for uncompensated motion case. .................................................................................................. 93 Table 4.5: Standard deviation of towed sphere motion path in XE, YE, and ZE directions for Rigorous Sheave set-point algorithm case. ............................................................................ 95 Table 5.1: Parameters for full-scale simulator adapted from Sun et al. [38], Walton and Brillhard [60], and Munson et al. [59]. ................................................................................. 101 Table 5.2: Summary of full-scale test case parameters. ............................................................................ 105 v LIST OF FIGURES Figure 1.1: Schematic of a research vessel transferring motion to a towed body via its tow cable. ........................................................................................................................................ 1 Figure 1.2: Schematic of a PHC system. .....................................................................................................
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