Modeling and Control of Industrial ROV’s for Semi-Autonomous Subsea Maintenance Services

Christian Mai, Simon Pedersen, Leif Hansen, Kasper Lund Jepsen, Zhenyu Yang

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

5 Citationer (Scopus)
113 Downloads (Pure)

Resumé

Remotely Operated Vechicles (ROV’s) takes a big part in the installation, maintenance and inspection of offshore subsea energy activities, such as inspections of Oil & Gas and wind energy pipelines and cables. By improving the ROV automation the operational cost can be significantly decreased as well as improving the inspection quality. This study examines an industrial ROV, where the investigations include modeling of a real industrial prototype, which is then linearized and used for Linear Quadratic Regulator (LQR) development. The results are validated both based on non-linear model simulations. Furthermore, the LQR controller is compared with the existing built-in heading and depth PID controllers, where it is shown that the LQR controller both gives an improved closed-loop transient performance and rejects noise better than the built-in controller. It is concluded that the ROV prototype has an acceptable physical design but that the automation could potentially be improved by adding a MIMO control scheme such as the proposed LQR controller.
OriginalsprogEngelsk
BogserieIFAC-PapersOnLine
Vol/bind50
Udgave nummer1
Sider (fra-til)13686-13691
Antal sider6
ISSN2405-8963
DOI
StatusUdgivet - jul. 2017
Begivenhed20th IFAC World Congress - Toulouse, Frankrig
Varighed: 9 jul. 201714 jul. 2017
https://www.ifac2017.org/

Konference

Konference20th IFAC World Congress
LandFrankrig
By Toulouse
Periode09/07/201714/07/2017
Internetadresse

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Controllers
Inspection
Automation
MIMO systems
Wind power
Cables
Pipelines
Gases
Costs

Citer dette

Mai, Christian ; Pedersen, Simon ; Hansen, Leif ; Jepsen, Kasper Lund ; Yang, Zhenyu. / Modeling and Control of Industrial ROV’s for Semi-Autonomous Subsea Maintenance Services. I: IFAC-PapersOnLine. 2017 ; Bind 50, Nr. 1. s. 13686-13691.
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title = "Modeling and Control of Industrial ROV’s for Semi-Autonomous Subsea Maintenance Services",
abstract = "Remotely Operated Vechicles (ROV’s) takes a big part in the installation, maintenance and inspection of offshore subsea energy activities, such as inspections of Oil & Gas and wind energy pipelines and cables. By improving the ROV automation the operational cost can be significantly decreased as well as improving the inspection quality. This study examines an industrial ROV, where the investigations include modeling of a real industrial prototype, which is then linearized and used for Linear Quadratic Regulator (LQR) development. The results are validated both based on non-linear model simulations. Furthermore, the LQR controller is compared with the existing built-in heading and depth PID controllers, where it is shown that the LQR controller both gives an improved closed-loop transient performance and rejects noise better than the built-in controller. It is concluded that the ROV prototype has an acceptable physical design but that the automation could potentially be improved by adding a MIMO control scheme such as the proposed LQR controller.",
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author = "Christian Mai and Simon Pedersen and Leif Hansen and Jepsen, {Kasper Lund} and Zhenyu Yang",
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Modeling and Control of Industrial ROV’s for Semi-Autonomous Subsea Maintenance Services. / Mai, Christian; Pedersen, Simon; Hansen, Leif; Jepsen, Kasper Lund; Yang, Zhenyu.

I: IFAC-PapersOnLine, Bind 50, Nr. 1, 07.2017, s. 13686-13691.

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

TY - GEN

T1 - Modeling and Control of Industrial ROV’s for Semi-Autonomous Subsea Maintenance Services

AU - Mai, Christian

AU - Pedersen, Simon

AU - Hansen, Leif

AU - Jepsen, Kasper Lund

AU - Yang, Zhenyu

PY - 2017/7

Y1 - 2017/7

N2 - Remotely Operated Vechicles (ROV’s) takes a big part in the installation, maintenance and inspection of offshore subsea energy activities, such as inspections of Oil & Gas and wind energy pipelines and cables. By improving the ROV automation the operational cost can be significantly decreased as well as improving the inspection quality. This study examines an industrial ROV, where the investigations include modeling of a real industrial prototype, which is then linearized and used for Linear Quadratic Regulator (LQR) development. The results are validated both based on non-linear model simulations. Furthermore, the LQR controller is compared with the existing built-in heading and depth PID controllers, where it is shown that the LQR controller both gives an improved closed-loop transient performance and rejects noise better than the built-in controller. It is concluded that the ROV prototype has an acceptable physical design but that the automation could potentially be improved by adding a MIMO control scheme such as the proposed LQR controller.

AB - Remotely Operated Vechicles (ROV’s) takes a big part in the installation, maintenance and inspection of offshore subsea energy activities, such as inspections of Oil & Gas and wind energy pipelines and cables. By improving the ROV automation the operational cost can be significantly decreased as well as improving the inspection quality. This study examines an industrial ROV, where the investigations include modeling of a real industrial prototype, which is then linearized and used for Linear Quadratic Regulator (LQR) development. The results are validated both based on non-linear model simulations. Furthermore, the LQR controller is compared with the existing built-in heading and depth PID controllers, where it is shown that the LQR controller both gives an improved closed-loop transient performance and rejects noise better than the built-in controller. It is concluded that the ROV prototype has an acceptable physical design but that the automation could potentially be improved by adding a MIMO control scheme such as the proposed LQR controller.

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KW - Modeling

KW - Robotics

KW - Mechatronics

KW - Automation

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DO - 10.1016/j.ifacol.2017.08.2535

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JO - I F A C Workshop Series

JF - I F A C Workshop Series

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