The control of a dynamic platform system for offshore operations in adverse weather conditions is discussed in this paper. The aim is to control the deck of the dynamic platform system to remain stationary irrespective of displacement-type base disturbances and force/ torque-type deck disturbances. Two control schemes based on the principle of invariance are described. Open-loop control, with drift cancellation, is implemented for the heave (vertical) motion, which is not always possible to obtain in practical systems. An experimental rig has been used to investigate and validate simulation results. Good simulation and experimental results have been obtained.
LoveL. J.JansenJ. F.PinF. G.Compensation of wave-induced motion and force phenomena for ship-based high performance robotic and human amplified systems, Oak Ridge National Laboratory, US Department of Energy, Tennessee, 2003.
2.
ChalmersH.SandersR.The motion compensation deck handling system for the remote unmanned work system. In ASME OED Winter Annual Meeting Proceedings, Chicago, Illinois, November 1980.
3.
RhodesQ. Z.HaneyJ. D.CareyJ. D.A low power/high performance active heave compensation system. In Proceedings of the Underwater Intervention 2002 Conference, New Orleans, Louisiana, February 2002.
4.
BhattacharyyaR.Dynamics of marine vehicles, 1978 (John Wiley, Chichester).
5.
Bouazza-MaroufK.HewitJ. R.Control of a dynamic platform for offshore applications. Mechatronics, 1993, 3 (5), 589–609.
6.
PriceW.Dynamics of ships, 1991 (Scholium International).
7.
LevineS. W.The control handbook, 1996 (CRC Press, Boca Raton, Florida).
8.
YagerT.The QNX operating system. Byte, August 1990, 15 (80), 281–283.
