Dynamics and Control of Mechanical Systems in Offshore Engineering

Author: Wei He
Publisher: Springer Science & Business Media
ISBN: 1447153375
Format: PDF, Kindle
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Dynamics and Control of Mechanical Systems in Offshore Engineering is a comprehensive treatment of marine mechanical systems (MMS) involved in processes of great importance such as oil drilling and mineral recovery. Ranging from nonlinear dynamic modeling and stability analysis of flexible riser systems, through advanced control design for an installation system with a single rigid payload attached by thrusters, to robust adaptive control for mooring systems, it is an authoritative reference on the dynamics and control of MMS. Readers will gain not only a complete picture of MMS at the system level, but also a better understanding of the technical considerations involved and solutions to problems that commonly arise from dealing with them. The text provides: · a complete framework of dynamical analysis and control design for marine mechanical systems; · new results on the dynamical analysis of riser, mooring and installation systems together with a general modeling method for a class of MMS; · a general method and strategy for realizing the control objectives of marine systems with guaranteed stability the effectiveness of which is illustrated by extensive numerical simulation; and · approximation-based control schemes using neural networks for installation of subsea structures with attached thrusters in the presence of time-varying environmental disturbances and parametric uncertainties. Most of the results presented are analytical with repeatable design algorithms with proven closed-loop stability and performance analysis of the proposed controllers is rigorous and detailed. Dynamics and Control of Mechanical Systems in Offshore Engineering is primarily intended for researchers and engineers in the system and control community, but graduate students studying control and marine engineering will also find it a useful resource as will practitioners working on the design, running or maintenance of offshore platforms.

Analysis and Control of Oilwell Drilling Vibrations

Author: Martha Belem Saldivar Marquez
Publisher: Springer
ISBN: 3319157477
Format: PDF, ePub
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This book reports the results of exhaustive research work on modeling and control of vertical oil well drilling systems. It is focused on the analysis of the system-dynamic response and the elimination of the most damaging drill string vibration modes affecting overall perforation performance: stick-slip (torsional vibration) and bit-bounce (axial vibration). The text is organized in three parts. The first part, Modeling, presents lumped- and distributed-parameter models that allow the dynamic behavior of the drill string to be characterized; a comprehensive mathematical model taking into account mechanical and electric components of the overall drilling system is also provided. The distributed nature of the system is accommodated by considering a system of wave equations subject to nonlinear boundary conditions; this model is transformed into a pair of neutral-type time-delay equations which can overcome the complexity involved in the analysis and simulation of the partial differential equation model. The second part, Analysis, is devoted to the study of the response of the system described by the time-delay model; important properties useful for analyzing system stability are investigated and frequency- and time-domain techniques are reviewed. Part III, Control, concerns the design of stabilizing control laws aimed at eliminating undesirable drilling vibrations; diverse control techniques based on infinite--dimensional system representations are designed and evaluated. The control proposals are shown to be effective in suppressing stick-slip and bit-bounce so that a considerable improvement of the overall drilling performance can be achieved. This self-contained book provides operational guidelines to avoid drilling vibrations. Furthermore, since the modeling and control techniques presented here can be generalized to treat diverse engineering problems, it constitutes a useful resource to researchers working on control and its engineering application in oil well drilling.

Control of Ships and Underwater Vehicles

Author: Khac Duc Do
Publisher: Springer Science & Business Media
ISBN: 184882730X
Format: PDF, Kindle
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Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.

Ship Motion Control

Author: Tristan Perez
Publisher: Springer Science & Business Media
ISBN: 1846281571
Format: PDF, ePub, Mobi
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engineers into a single volume whilst concentrating on two important research control design problems: autopilots with rudder-roll stabilization and fin and combined rudder-fin stabilization. He has been guided by some of the leading marine control academics, in particular Mogens Blanke and Thor Fossen; indeed Chapters 3 and 4 on kinematics and kinetics of ship motion are jointly authored with Professor Fossen. There are some 240 cited references – an invaluable resource for interested readers. The volume is likely to appeal to a wide range of readers who will each be able to extract something different from the various parts of the monograph. Part I has some four chapters on the modelling fundamentals including kinematics, dynamics and actuators. Part II is a very useful survey of the ship roll stabilization problem and how ship roll performance is measured and assessed. This clearly motivates the human necessity for roll-reduction and roll stabilization. Parts III and IV move on to the control systems aspects of the various stabilization designs. Valuable material here includes a study of system performance limitations as caused by the presence of non-minimum phase characteristics and actuator saturation. Chapter 10 has an interesting historical review of these marine control problems stretching back some thirty-years into the 1970s.

Nonlinear Control of Vehicles and Robots

Author: Béla Lantos
Publisher: Springer Science & Business Media
ISBN: 9781849961226
Format: PDF, Mobi
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Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.

Handbook of Marine Craft Hydrodynamics and Motion Control

Author: Thor I. Fossen
Publisher: John Wiley & Sons
ISBN: 9781119998686
Format: PDF
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The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed. Key features include: a three-part structure covering Modeling of Marine Craft; Guidance, Navigation and Control Systems; and Appendices, providing all the supporting theory in a single resource kinematics, kinetics, hydrostatics, seakeeping and maneuvering theory, and simulation models for marine craft and environmental forces guidance systems, sensor fusion and integrated navigation systems, inertial measurement units, Kalman filtering and nonlinear observer design for marine craft state-of-the-art methods for feedback control more advanced methods using nonlinear theory, enabling the user to compare linear design techniques before a final implementation is made. linear and nonlinear stability theory, and numerical methods companion website that hosts links to lecture notes and download information for the Marine Systems Simulator (MSS) which is an open source Matlab/Simulink® toolbox for marine systems. The MSS toolbox includes hydrodynamic models and motion control systems for ships, underwater vehicles and floating structures With an appropriate balance between mathematical theory and practical applications, academic and industrial researchers working in marine and control engineering aspects of manned and unmanned maritime vehicles will benefit from this comprehensive handbook. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of rigid-body modeling, hydrodynamics, simulation of marine craft, control and estimation theory, decision-support systems and sensor fusion. www.wiley.com/go/fossen_marine

Advanced Control Engineering

Author: Roland S. Burns
Publisher: Butterworth-Heinemann
ISBN: 9780750651004
Format: PDF, ePub, Docs
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Advanced Control Engineering provides a complete course in control engineering for undergraduates of all technical disciplines. Starting with a basic overview of elementary control theory this text quickly moves on to a rigorous examination of more advanced and cutting edge date aspects such as robust and intelligent control, including neural networks and genetic algorithms. With examples from aeronautical, marine and many other types of engineering, Roland Burns draws on his extensive teaching and practical experience presents the subject in an easily understood and applied manner. Control Engineering is a core subject in most technical areas. Problems in each chapter, numerous illustrations and free Matlab files on the accompanying website are brought together to provide a valuable resource for the engineering student and lecturer alike. Complete Course in Control Engineering Real life case studies Numerous problems

Parametric Resonance in Dynamical Systems

Author: Thor Fossen
Publisher: Springer Science & Business Media
ISBN: 1461410428
Format: PDF, Mobi
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Parametric Resonance in Dynamical Systems discusses the phenomenon of parametric resonance and its occurrence in mechanical systems, vehicles, motorcycles, aircraft and marine craft, along micro-electro-mechanical systems. The contributors provides an introduction to the root causes of this phenomenon and its mathematical equivalent, the Mathieu-Hill equation. Also included is a discussion of how parametric resonance occurs on ships and offshore systems, and its frequency in mechanical and electrical systems. This volume is ideal for researchers and mechanical engineers working in application fields such as MEMS, maritime, aircraft and ground vehicle engineering.

Robust Control of Diesel Ship Propulsion

Author: Nikolaos Xiros
Publisher: Springer Science & Business Media
ISBN: 144710191X
Format: PDF
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Based on the author’s research and practical projects, he presents a broad view of the needs and problems of the shipping industry in this area. The book covers several models and control types, developing an integrated nonlinear state-space model of the marine propulsion system.