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

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  • Zhengru Ren

    (Centre for Research-based Innovation on Marine Operations (SFI MOVE), NO-7491 Trondheim, Norway
    Centre for Autonomous Marine Operations and Systems (AMOS), NO-7491 Trondheim, Norway
    Department of Marine Technology, Norwegian University of Science and Technology,NO-7491 Trondheim, Norway)

  • Roger Skjetne

    (Centre for Research-based Innovation on Marine Operations (SFI MOVE), NO-7491 Trondheim, Norway
    Centre for Autonomous Marine Operations and Systems (AMOS), NO-7491 Trondheim, Norway
    Department of Marine Technology, Norwegian University of Science and Technology,NO-7491 Trondheim, Norway)

  • Zhen Gao

    (Centre for Research-based Innovation on Marine Operations (SFI MOVE), NO-7491 Trondheim, Norway
    Centre for Autonomous Marine Operations and Systems (AMOS), NO-7491 Trondheim, Norway
    Department of Marine Technology, Norwegian University of Science and Technology,NO-7491 Trondheim, Norway)

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.

Suggested Citation

  • Zhengru Ren & Roger Skjetne & Zhen Gao, 2018. "A Crane Overload Protection Controller for Blade Lifting Operation Based on Model Predictive Control," Energies, MDPI, vol. 12(1), pages 1-22, December.
    • Handle: RePEc:gam:jeners:v:12:y:2018:i:1:p:50-:d:193030
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    References listed on IDEAS

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    1. Zhiyu Jiang & Weifei Hu & Wenbin Dong & Zhen Gao & Zhengru Ren, 2017. "Structural Reliability Analysis of Wind Turbines: A Review," Energies, MDPI, vol. 10(12), pages 1-25, December.
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