A Crane Overload Protection Controller for Blade Lifting Operation Based on Model Predictive Control

Zhengru Ren, Roger Skjetne and Zhen Gao
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Zhengru Ren: Centre for Research-based Innovation on Marine Operations (SFI MOVE), NO-7491 Trondheim, Norway
Roger Skjetne: Centre for Research-based Innovation on Marine Operations (SFI MOVE), NO-7491 Trondheim, Norway
Zhen Gao: Centre for Research-based Innovation on Marine Operations (SFI MOVE), NO-7491 Trondheim, Norway

Energies, 2018, vol. 12, issue 1, 1-22

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.

Keywords: offshore wind turbine; offshore operation; lifting operation; blade installation; model predictive control (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2018
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