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Design and Simulation of Offshore Maneuver Compensation Table Using Active Control

Akbari, Mahdi | 2020

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 53787 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Saadat Foomani, Mahmood
  7. Abstract:
  8. One of the problems in vessels is the marine oscillations that occur due to the collision of sea waves with the vessel. These oscillations in small yachts can cause passengers to seasick upside down and overturn objects in the boat, or in industrial ships can cause problems in the operation of cranes on vessel, and in military vessels can cause errors in targeting weapons and radar systems. The purpose of this research is to design and simulate a robotic compensating table that can actively compensate the vessel fluctuations by using control algorithms in three directions of Roll, Pitch and Heave and create a level that can be used in Medium-sized boats were used to eliminate harmful movement disturbances for some equipment. In order to achieve a suitable design for this stabilizer, an analytical model for the stabilizer was extracted and a controller was designed based on the feedback linearization method and sliding mode. To evaluate the accuracy of the designed controller, a virtual saple of the system was created in Adams software. The detail design of this stabilizer and the selection of elements and 3D modeling have been done and the simulations show that in the presence of indeterminate parameters up to 10%, the designed stabilizer can keep the adjustment error of the three axes of Roll, Pitch and Heave within acceptable range
  9. Keywords:
  10. Services Vessels ; Vessel Self-Leveling Table ; Vessel Oscillation Compensation Table ; Active Control ; Ship Maneuvering

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