Tài liệu A study on automated ribbon bridge installation strategy and control system design

Thesis for the Degree of Doctor of Philosophy A Study on Automated Ribbon Bridge Installation Strategy and Control System Design by Van Trong Nguyen Department of Mechanical System Engineering The Graduate School Pukyong National University October 2018 A Study on Automated Ribbon Bridge Installation Strategy and Control System Design 부유식 교량 설치방법 및 제어시스템 구축에 관한 연구 by Van Trong Nguyen Advisor: Prof. Young-Bok Kim A thesis submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy In Department of Mechanical System Engineering, The Graduate School, Pukyong National University October 2018 Acknowledgments Foremost, I would like to express my sincere gratitude to my advisor Professor Young-Bok Kim for the continuous support of my study and research, for his immense knowledge, motivation, patience, and his enthusiasm. His endless kindness, insight supports, and strong motivation encouraged and helped me to accomplish my research and finish this dissertation scientifically. With all my respect and from bottom of my heart, I wish my Professor and his family to have the long-lived health and happiness. I would like to thank the members of my thesis committee: Prof. Suk-Ho Jung, Prof. Soo-Yol Ok, Prof. Jin-Ho Suh, and Dr. SangWon Ji who have provided wonderful feedback on my work and great suggestions for better contribution of my dissertation. I am also grateful to Prof. Kyoung-Joon Kim, my former Master advisor, and Dr. Anh-Minh Duc Tran from Ton Duc Thang University for essential assistances. Without their introduction, I would not have the chance to finish my study in Marine Cybernetics Laboratory. Besides, I would like to thank all members of Marine Cybernetics Laboratory for their cooperation, encouragement, and friendship giving me a comfortable and active environment to achieve my work: Manh Son Tran, Nhat Binh Le, Duc Quan Tran, Eun-Ho Choi, DongHoon Lee, Dae-Hwan Kim, Mi-Roo Sin, Soumayya Chakir and all other foreign friends. Thanks are due to all members of Vietnamese Students’ Association in Korea, especially Dr. Huy Hung Nguyen, Dr. Van Tu Duong, i Dr. Phuc Thinh Doan, Dr. Viet Thang Tran, Dr. Dac Chi Dang for their vigorous supports and invaluable helps. I would like to thank my parents, my older sister and all my close relatives for their encouragement throughout my life. Without their supports, there will be a lot of difficulties for my to finish my graduate study seamlessly. Finally, I owe more than thanks to my wonderful wife Thuy Linh Dang for her unconditional love, endless encouragement not only all the time of my study but also in whole of my life ahead. Pukyong National University, Busan, Korea October 26, 2018 Van Trong Nguyen ii Contents Acknowledgment .................................................................. i Content ................................................................................. iii Abstract ................................................................................ vi List of Figures ....................................................................... x List of Tables......................................................................... xvi Abbreviation ......................................................................... xvii Nomenclatures ......................................................................xviii Chapter 1. 1.1 1.2 1.3 1.4 Introduction.................................................... 1 Background and motivation ....................................... Problem Statements................................................... Objective and researching method .............................. Organization of dissertation ....................................... 1 5 6 8 Chapter 2. 2.1 Induction of the Ribbon Bridge and Modeling 10 System description .................................................... 10 2.1.1 Overview of the ribbon floating bridge ............ 10 2.1.2 An automated installation and operation strategy for RFBs........................................... 11 2.2 The ribbon floating bridge model description .............. 12 2.2.1 Mechanical design ......................................... 12 2.2.2 2.3 Electrical design ............................................ 15 The RFBs Modeling .................................................. 20 iii 2.3.1 General Modeling for Control of the RFBs ...... 20 2.3.2 The Pilot Model of the RFB Modeling for Control Design .............................................. 22 2.4 2.5 System Identification ................................................. 25 Summary.................................................................. 29 Chapter 3. Observer-Based Optimal Control Design with Linear Quadratic Regulator Technique... 30 3.1 3.2 3.3 Introduction .............................................................. Control System Framework........................................ Observer-based Control Design .................................. 3.3.1 State Observer Design.................................... 3.3.2 3.4 3.5 3.6 30 31 35 35 Optimal Controller Design ............................. 38 Simulation Results .................................................... 42 Experimental Results................................................. 48 Summary.................................................................. 58 Chapter 4. Motion Control Performance with Sliding Mode Control Design ...................................... 59 4.1 4.2 4.3 4.4 4.5 Introduction .............................................................. Sliding Mode Control of MIMO Underactuated System Simulation results ..................................................... Experimental results .................................................. Summary.................................................................. Chapter 5. 5.1 5.2 59 59 64 69 79 Conclusions and Future Works ....................... 81 Conclusions .............................................................. 81 Future works............................................................. 82 References............................................................................. 84 Publication and Conference .................................................. 88 iv A Study on Automated Ribbon Bridge Installation Strategy and Control System Design Van Trong Nguyen Department of Mechanical System Engineering, The Graduate School, Pukyong National University Abstract Recently, Ribbon Floating Bridges are widely utilized in transportation, especially for emergency restoration in both military and civil fields thanks to their great advantages of ability to transport heavy combat vehicles, trucks, quick installation, and low environmental impacts. Since the installation and operation of the ribbon floating bridge are mainly carried by manual work, these jobs may contain high risks, particularly in dangerous situation and combat time. Therefore, it is critical to propose an installation strategy and self-operation automatically. This dissertation aims to present a new approach for automated installation and operation of the ribbon floating bridge by proposing a mathematical modeling and designing a control system with different approaches. The floating bridge system consists a series of interior and ram bays connected that can be considered as the multi-link manipulator. It is confirmed that there is no previous study related to this object although a lot of researchers paid attention to dynamic analysis. Bev sides, the floating bridge systems normally work in continuous changing environment and are affected by various of uncertainties such as current flow, moving load, and other external disturbances that can lead to position displacement. To successfully achieve the automatic installation and self-correction positional displacement of the ribbon floating bridge, the integrated propulsion systems are included and the yaw motion of every single bay is measured by the incremental encoder. The ribbon floating bridge is loaded in one riverside and then is rotated to the desired position across the river. In order to maintain the structure and operation of the bridge system, it is required to ensure the linearity of the whole bridge and keep its desired position. To completely perform these task, the followings are carried out: ● Firstly, the ribbon floating bridge system structure description and dynamic analysis are discussed and system modeling of the ribbon floating bridge consisting of five individual coupled floating units is given. In this system, there will be existences of two passive bays that do not have propulsion systems. The remaining three active bays are designed to integrate with three propulsion systems containing azimuth propellers, direct current motors and motor drivers. Besides, the yaw displacement between two continuous floating units is measured by the incremental encoder. The system modeling of the ribbon floating bridge describes the kinematics and kinetic of mechanical and electrical operation to obtain a dynamic system expressed by state equations. ● Secondly, a number of experimental studies is conducted in order to identify the dynamic characteristics of the floating unit. Bevi sides, the propulsion system is also identified through variety of experiments with different step inputs. In order to estimate the affection of current flow disturbance, an experiment was carried out with several assumed water velocities. Among the obtained data, a representative model is selected. In addition, there are variety of states cannot be measured directly for feedback, therefore, it is necessary to include a state estimator in control system. The linear state observer is designed and implemented. The effectiveness and robustness of the proposed state estimator are verified by numerical simulations and experimental results. ● Thirdly, an optimal controller using Linear Quadratic Regulator (LQR) technique is designed and implemented. For the class of MIMO linear system, the optimal control method is common used for robust achievement. Based on previous proposed state observer, the controller gains are defined with the assistance of Matlab software. To verify the sufficiency of the given observer-based controller, a number of numerical simulations with various desired outputs and distinctive environmental conditions are investigated. For further confirmation of practical feasibility of the proposed installation strategy and control system, the experiment is executed in both calm water basin and under wave disturbance attack. The obtained results indicate that the proposed control system satisfies the initial objectives. ● Finally, although the optimal LQR based state estimator controller is eligible to achieve the desired control performance, there will be a raised problem caused by the uncertainties of external disturbance leading to slow response of controller to cope with continuous wave/current flow force. Hence, it is critical to improve the reacvii tion time of controller that quickly adapts with uncertainties as well as external disturbance. To eliminate with the unexpected attacks of external disturbance and improve the reaction time, a sliding mode controller (SMC) is proposed for under-actuated system. Simulation and experimental results illustrate the effectiveness of the proposed controller including the ability to overcome continuous wave during installation phase and the robust stable of position keeping phase. viii List of Figures Fig. 1.1 The actual ribbon bridge system.......................... Fig. 1.2 Conventional methods for ribbon bridge installation ................................................................ Fig. 2.1 2 3 A proposed installation strategy for the ribbon bridge ............................................................... 12 Fig. 2.2 Diagram of five-bay ribbon bridge model structure 13 Fig. 2.3 Structure of the active bay .................................. 14 Fig. 2.4 Structure of the passive bay ................................ 15 Fig. 2.5 The configuration diagram of the control system .. 16 Fig. 2.6 The photo and specification of the incremental encoder ............................................................. 16 Fig. 2.7 The photo and specification of NI PXIe-6363....... 18 Fig. 2.8 The photo and specification of NI PXI-6221 ........ 18 Fig. 2.9 The photo and specification of NI PXI-6221 ........ 19 Fig. 2.10 The photo and specification of DC motor............. 19 Fig. 2.11 The photo and specification of the propeller ......... 20 Fig. 2.12 The structure of five-floating unit bridge system ... 23 Fig. 2.13 The experiment setup for propulsion system identification ..................................................... 26 Fig. 2.14 The input step voltage and the obtained output force ................................................................. 26 Fig. 2.15 The fitting result of identified model for propulsion system........................................................ 27 ix Fig. 2.16 The experiment setup for inertia and damping coefficient identification ..................................... 28 Fig. 2.17 The least square data fitting result ....................... 28 Fig. 3.1 The servosystem for positional control of the RFB system....................................................... 35 Fig. 3.2 The diagram of a full-state observer structure....... 36 Fig. 3.3 The yaw angle deviation of floating unit no. 1 ...... 43 Fig. 3.4 The yaw angle deviation of floating unit no. 2 ...... 43 Fig. 3.5 The yaw angle deviation of floating unit no. 3 ...... 43 Fig. 3.6 The yaw angle deviation of floating unit no. 4 ...... 44 Fig. 3.7 The yaw angle deviation of floating unit no. 5 ...... 44 Fig. 3.8 The control input voltage for propulsion systems in ideal condition ............................................... 44 Fig. 3.9 The yaw motion of floating unit no. 1 under disturbance ........................................................ 45 Fig. 3.10 The yaw motion of floating unit no. 2 under disturbance ........................................................ 46 Fig. 3.11 The yaw motion of floating unit no. 3 under disturbance ........................................................ 46 Fig. 3.12 The yaw motion of floating unit no. 4 under disturbance ........................................................ 46 Fig. 3.13 The yaw motion of floating unit no. 5 under disturbance ........................................................ 47 Fig. 3.14 The control input for propulsion systems under disturbance ........................................................ 47 x Fig. 3.15 The experiment setup for RFB installation and position keeping control ..................................... 48 Fig. 3.16 The yaw motion of floating unit no. 1 in calm water................................................................. 49 Fig. 3.17 The yaw motion of floating unit no. 2 in calm water................................................................. 50 Fig. 3.18 The yaw motion of floating unit no. 3 in calm water................................................................. 50 Fig. 3.19 The yaw motion of floating unit no. 4 in calm water................................................................. 50 Fig. 3.20 The yaw motion of floating unit no. 5 in calm water................................................................. 51 Fig. 3.21 The control input for propulsion systems in calm water......................................................... 51 Fig. 3.22 The yaw angle displacement between #1 unit and #2 unit ........................................................ 52 Fig. 3.23 The yaw angle displacement between #2 unit and #3 unit ........................................................ 52 Fig. 3.24 The yaw angle displacement between #3 unit and #4 unit ........................................................ 53 Fig. 3.25 The yaw angle displacement between #4 unit and #5 unit ........................................................ 53 Fig. 3.26 The yaw motion of unit #1 with external disturbance ................................................................ 54 Fig. 3.27 The yaw motion of unit #1 with external disturbance ................................................................ 54 xi Fig. 3.28 The yaw motion of unit #1 with external disturbance ................................................................ 54 Fig. 3.29 The yaw motion of unit #1 with external disturbance ................................................................ 55 Fig. 3.30 The yaw motion of unit #1 with external disturbance ................................................................ 55 Fig. 3.31 The control input for propulsion systems with external disturbance ........................................... 55 Fig. 3.32 The yaw angle displacement between #1 unit and #2 unit ........................................................ 56 Fig. 3.33 The yaw angle displacement between #2 unit and #3 unit ........................................................ 56 Fig. 3.34 The yaw angle displacement between #3 unit and #4 unit ........................................................ 57 Fig. 3.35 The yaw angle displacement between #4 unit and #5 unit ........................................................ 57 Fig. 4.1 Yaw angle deviation of floating unit #1................ 67 Fig. 4.2 Yaw angle deviation of floating unit #2................ 67 Fig. 4.3 Yaw angle deviation of floating unit #3................ 67 Fig. 4.4 Yaw angle deviation of floating unit #4................ 68 Fig. 4.5 Yaw angle deviation of floating unit #5................ 68 Fig. 4.6 Force command inputs for propulsion systems ..... 68 Fig. 4.7 The yaw motion of unit #1 with SMC in calm water................................................................. 70 Fig. 4.8 The yaw motion of unit #1 with SMC in calm water................................................................. 70 xii Fig. 4.10 The yaw motion of unit #1 with SMC in calm water................................................................. 70 Fig. 4.9 The yaw motion of unit #1 with SMC in calm water................................................................. 71 Fig. 4.11 The yaw motion of unit #1 with SMC in calm water................................................................. 71 Fig. 4.12 The yaw displacement between unit #1 and unit #2 with SMC in calm water ................................ 72 Fig. 4.13 The yaw displacement between unit #2 and unit #3 with SMC in calm water ................................ 72 Fig. 4.14 The yaw displacement between unit #3 and unit #4 with SMC in calm water ................................ 73 Fig. 4.15 The yaw displacement between unit #4 and unit #5 with SMC in calm water ................................ 73 Fig. 4.16 The control forces generated by propulsion system in calm water condition ........................... 74 Fig. 4.17 The yaw motion of unit #1 with SMC under disturbance ........................................................ 75 Fig. 4.18 The yaw motion of unit #2 with SMC under disturbance ........................................................ 75 Fig. 4.19 The yaw motion of unit #3 with SMC under disturbance ........................................................ 75 Fig. 4.20 The yaw motion of unit #4 with SMC under disturbance ........................................................ 76 Fig. 4.21 The yaw motion of unit #5 with SMC under disturbance ........................................................ 76 xiii Fig. 4.22 The yaw displacement between unit #1 and unit #2 under disturbance .......................................... 77 Fig. 4.23 The yaw displacement between unit #2 and unit #3 under disturbance .......................................... 77 Fig. 4.24 The yaw displacement between unit #3 and unit #4 under disturbance .......................................... 78 Fig. 4.25 The yaw displacement between unit #4 and unit #5 under disturbance .......................................... 78 Fig. 4.26 The force commands generated by propulsion systems under disturbance condition ................... 79 xiv List of Tables Table 2.1 Parameters of floating unit ............................... 14 Table 2.2 Detailed specification of the PXIe-8115 embedded controller ............................................ 17 xv Abbreviation DAQ Data Acquisition DC Direct current IRB Improved Ribbon Bridge LQR Linear Quadratic Regulator MIMO Multi input multie output RFB Ribbon Floating Bridge SMC Sliding mode control xvi