Simulation and Experiment of a Turbine Access System with Three-Axial Active Motion Compensation

• Main Authors: Chun-Chen Wu, 吳俊辰
• Other Authors: Mao-Hsiung Chiang
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/74805837518284945736

碩士 === 國立臺灣大學 === 工程科學及海洋工程學研究所 === 104 === 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, control system, and test rig set up for dynamic simulation and experiment. The vertical height, the rolling angle and the vertical acceleration of the end effector of TAS can be effectively reduced through the active motion compensation control of TAS for improving the access safety of the offshore wind turbine. For simulation, 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). Besides, the hydraulic driving system, the closed-loop control system of the active motion compensation control are designed, dynamically modeled 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 control of TAS for verifying the effect of active compensation control system of TAS. Besides, a full-scale test rig of the TAS is set up for verifying the effect of active compensation control system of TAS experimentally. Through the active compensation control experiment in the full-scale test rig, the vertical height variation, the rolling angle and the vertical acceleration of the end effector of TAS can be reduced and verified by practical experiments.