A Crane Overload Protection Controller for Blade Lifting Operation Based on Model Predictive Control
1
Centre for Research-based Innovation on Marine Operations (SFI MOVE), NO-7491 Trondheim, Norway
2
Centre for Autonomous Marine Operations and Systems (AMOS), NO-7491 Trondheim, Norway
3
Department of Marine Technology, Norwegian University of Science and Technology,NO-7491 Trondheim, Norway
*
Author to whom correspondence should be addressed.
Energies 2019, 12(1), 50; https://doi.org/10.3390/en12010050
Received: 12 November 2018 / Revised: 10 December 2018 / Accepted: 11 December 2018 / Published: 24 December 2018
(This article belongs to the Special Issue Recent Advances in Offshore Wind Technology)
Abstract
Lifting is a frequently used offshore operation. In this paper, a nonlinear model predictive control (NMPC) scheme is proposed to overcome the sudden peak tension and snap loads in the lifting wires caused by lifting speed changes in a wind turbine blade lifting operation. The objectives are to improve installation efficiency and ensure operational safety. A simplified three-dimensional crane-wire-blade model is adopted to design the optimal control algorithm. A crane winch servo motor is controlled by the NMPC controller. The direct multiple shooting approach is applied to solve the nonlinear programming problem. High-fidelity simulations of the lifting operations are implemented based on a turbulent wind field with the MarIn and CaSADi toolkit in MATLAB. By well-tuned weighting matrices, the NMPC controller is capable of preventing snap loads and axial peak tension, while ensuring efficient lifting operation. The performance is verified through a sensitivity study, compared with a typical PD controller. View Full-TextKeywords:
offshore wind turbine; offshore operation; lifting operation; blade installation; model predictive control
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Ren, Z.; Skjetne, R.; Gao, Z. A Crane Overload Protection Controller for Blade Lifting Operation Based on Model Predictive Control. Energies 2019, 12, 50.
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