A Crane Overload Protection Controller for Blade Lifting Operation Based on Model Predictive Control
A Crane Overload Protection Controller for Blade Lifting Operation Based on Model Predictive Control
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DOI：
10.3390/en12010050
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发表时间：
2018-12
期刊：
影响因子：
3.2
通讯作者：
Z. Ren;R. Skjetne;Zhen Gao
中科院分区：
文献类型：
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作者：
Z. Ren;R. Skjetne;Zhen Gao
起重是一种经常使用的海上作业。针对风力涡轮机叶片提升过程中，提升速度变化引起的提升钢丝张力峰值和突然载荷问题，提出了一种非线性模型预测控制（NMPC）方法。目的是提高安装效率和确保操作安全。采用简化的三维吊车-钢丝-叶片模型设计最优控制算法。NMPC控制器控制起重机绞车伺服电机。采用直接多重打靶法求解非线性规划问题。采用MATLAB中的MarIn和CaSADi工具包，基于湍流风场实现了提升操作的高保真仿真。通过良好的加权矩阵，NMPC控制器能够防止突然载荷和轴向峰值张力，同时确保高效的提升操作。通过灵敏度研究，与典型的PD控制器的性能进行了验证。
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.