Thesis for the Degree of Doctor of Philosophy A Study on Automated Ribbon Bridge Installation Strategy and Control System Design by Van Trong Nguyen Department of Mechanical System Engineering The Graduate School Pukyong National University October 2018 A Study on Automated Ribbon Bridge Installation Strategy and Control System Design € í Pẫ $X)ã lãé ĩÔ\ \ l by Van Trong Nguyen Advisor: Prof Young-Bok Kim A thesis submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy October 261h, October 2018 2018 In Department of Mechanical System Engineering, The Graduate School, Pukyong National University October 261h, October 2018 2018 A Study on Automated Ribbon Bridge Installation Strategy and Control System Design A dissertation by Van Trong Nguyen Approved as to styles and contents by: (Chairman) Prof Jin-Ho Suh (Member) Prof Suk-Ho Jung (Member) Dr Sang-Won Ji October 261h, October 2018 2018 (Member) Prof Soo-Yol Ok (Member) Prof Young-Bok Kim October 261h, October 2018 2018 Acknowledgments Foremost, I would like to express my sincere gratitude to my advisor Professor Young-Bok Kim for the continuous support of my study and research, for his immense knowledge, motivation, patience, and his enthusiasm His endless kindness, insight supports, and strong motivation encouraged and helped me to accomplish my research and finish this dissertation scientifically With all my respect and from bottom of my heart, I wish my Professor and his family to have the long-lived health and happiness I would like to thank the members of my thesis committee: Prof Suk-Ho Jung, Prof Soo-Yol Ok, Prof JinHo Suh, and Dr Sang- Won Ji who have provided wonderful feedback on my work and great suggestions for better contribution of my dissertation I am also grateful to Prof Kyoung-Joon Kim, my former Master advisor, and Dr Anh-Minh Duc Tran from Ton Duc Thang University for essential assistances Without their introduction, I would not have the chance to finish my study in Marine Cybernetics Laboratory Besides, I would like to thank all members of Marine Cybernet- ics Laboratory for their cooperation, encouragement, and friendship giving me a comfortable and active environment to achieve my work: Manh Son Tran, Nhat Binh Le, Duc Quan Tran, Eun-Ho Choi, Dong- Hoon 6i Lee, Dae-Hwan Kim, Mi-Roo Sin, Soumayya Chakir and all other foreign friends Thanks are due to all members of Vietnamese Students’ Associa- tion in Korea, especially Dr Huy Hung Nguyen, Dr Van Tu Duong, 7i Dr Phuc Thinh Doan, Dr Viet Thang Tran, Dr Dac Chi Dang for their vigorous supports and invaluable helps I would like to thank my parents, my older sister and all my close relatives for their encouragement throughout my life Without their supports, there will be a lot of difficulties for my to finish my graduate study seamlessly Finally, I owe more than thanks to my wonderful wife Thuy Linh Dang for her unconditional love, endless encouragement not only all the time of my study but also in whole of my life ahead Pukyong National University, Busan, Korea October 26, 2018 Van Trong Nguyen 8i Contents Acknowledgment i Content iii Abstract vi List of Figures x List of Tables xvi Abbreviation xvii Nomenclatures .xviii Chapter Introduction 1.1 Background and motivation 1.2 Problem 1 Statements 1.3 Objective and researching method 1.4 Organization of dissertation 33 Chapter Induction of the Ribbon Bridge and Modeling 10 2.1 System description 10 2.1.1 Overview of the ribbon floating bridge 10 2.1.2 An automated installation and operation strategy for RFBs 11 2.2 The ribbon floating bridge model description 12 2.2.1 Mechanical design 2.2.2 Electrical design 2.3 The RFBs Modeling 20 44 simulation -10 -15 10 20 30 40 50 60 70 80 90 100 Time [s] Fig 4.1 Yaw angle deviation of floating unit #1 Yaw Angle [deg] 15 10 -5 reference -10 -15 simulation 10 20 30 40 50 60 70 80 90 Time [s] Fig 4.2 Yaw angle deviation of floating unit #2 Yaw Angle [deg] 15 10 -5 reference -10 -15 simulation 10 20 30 40 50 60 70 80 90 Time [s] Fig 4.3 Yaw angle deviation of floating unit #3 15 10 Yaw Angle [deg] -5 reference -10 -15 simulation 10 20 30 40 50 60 70 80 90 Time [s] Fig 4.4 Yaw angle deviation of floating unit #4 15 Yaw Angle [deg] 10 -5 reference -10 -15 simulation 10 20 30 40 50 60 70 80 90 100 Time [s] Fig 4.5 Yaw angle deviation of floating unit #5 Control Force [N] control force -1 control force control force -2 10 20 30 40 50 60 70 80 90 100 Time [s] Fig 4.6 Force command inputs for propulsion systems The yaw motions of each individual floating unit are shown in Fig 4.1 ∼ Fig 4.5 It can be clearly seen that the control performance is nearly perfect, particularly the motion of floating unit #1, #3, and #5 in which active driven by propulsion systems For the floating unit #2 and #4, the overall tracking performance is good Because the similar reference outputs are applied to five floating units with the same amplifier and period, it is possible to recognize that the displacement among those is completely close to zero There- fore, the linearity of the bridge system is maintained The command forces generated by the propulsion systems to drive bridge system are illustrated in Fig 4.6 The allocation property of the sliding mode controller can be seen from the assigned control force for each propulsion system located in three active floating units 4.4 Experimental results To evaluate the effectiveness of the modified sliding mode con- troller, multiple times of experiments are executed The experiment set-up employed in previous Chapter is re-applied (see Fig 3.15) The controller is implemented by Labview 2016 with supports of NI DAQ and embedded controller The yaw motion is obtained by incremental encoder Thanks to efficiency of the state estimator, the essential force command can be obtained Similar to the previous experiment execution, there are two cases of real plant being considered: calm water condition and under con- tinuous water disturbance attack condition 100 Yaw Angle [deg] 80 60 40 reference actual angle estimated angle 20 0 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.7 The yaw motion of unit #1 with SMC in calm water 100 Yaw Angle [deg] 80 60 40 reference actual angle estimated angle 20 0 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.8 The yaw motion of unit #1 with SMC in calm water Yaw Angle [deg] 80 60 40 reference actual angle estimated angle 20 0 20 40 60 80 100 Time [s] 120 140 160 180 Fig 4.10 The yaw motion of unit #1 with SMC in calm water 100 Yaw Angle [deg] 80 60 40 reference actual angle estimated angle 20 0 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.9 The yaw motion of unit #1 with SMC in calm water 100 Yaw Angle [deg] 80 60 40 reference actual angle 20 estimated angle 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.11 The yaw motion of unit #1 with SMC in calm water Fig 4.7 ∼ Fig 4.11 illustrate the yaw motions of five floating units in ideal condition without external disturbance effects Assuming that the target yaw angle of the bridge system is 900 It can be seen that the bridge system approached the desired position from initial yaw angle of 00 smoothly without overshoot or fluctuation These results confirm the improvement of the sliding mode controller performance in comparison with the linear optimal controller proposed in Chapter 0.1 Yaw Displacement [deg] 0.05 -0.05 -0.1 -0.15 -0.2 50 100 150 200 Time [s] Fig 4.12 The yaw displacement between unit #1 and unit #2 with SMC in calm water 0.2 Yaw Displacement [deg] 0.1 -0.1 -0.2 50 100 Time [s] 150 200 Fig 4.13 The yaw displacement between unit #2 and unit #3 with SMC in calm water 0.2 Yaw Displacement [deg] 0.15 0.1 0.05 -0.05 -0.1 50 100 150 200 Time [s] Fig 4.14 The yaw displacement between unit #3 and unit #4 with SMC in calm water 0.2 Yaw Displacement [deg] 0.15 0.1 0.05 -0.05 -0.1 50 100 150 200 Time [s] Fig 4.15 The yaw displacement between unit #4 and unit #5 with SMC in calm water Control Force [N] 2.5 control force control force 1.5 control force 0.5 -0.5 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.16 The control forces generated by propulsion system in calm water condition Additionally, Fig 4.12 ∼ Fig 4.14 show the yaw angle displace- ments along the bridge The maximum recorded displacement is ap- proximately 0.1 [deg] confirming that the linearity of the bridge sys- tem is extremely good The command forces generated by three propulsion systems are shown in Fig 4.16 Consequently, to verify the stability and effectiveness of the pro- posed sliding mode controller, the experiments are executed under the continuous wave which generated by a wave generator as seen in Fig ?? The generated wave had properties of 20[mm] amplifier and 2[s] of period The bridge system will be continuously attacked by the wave Accordingly, the yaw position of each floating unit will be af- fected as well as the displacements among floating units will be ad- justed 100 Yaw Angle [deg] 80 60 40 reference actual angle 20 estimated angle 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.17 The yaw motion of unit #1 with SMC under disturbance 100 Yaw Angle [deg] 80 60 40 reference actual angle 20 estimated angle 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.18 The yaw motion of unit #2 with SMC under disturbance 100 Yaw Angle [deg] 80 60 40 reference actual angle 20 estimated angle 20 40 60 80 100 Time [s] 120 140 160 180 200 Fig 4.19 The yaw motion of unit #3 with SMC under disturbance 100 Yaw Angle [deg] 80 60 40 reference actual angle 20 estimated angle 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.20 The yaw motion of unit #4 with SMC under disturbance 100 Yaw Angle [deg] 80 60 40 reference actual angle estimated angle 20 0 20 40 60 80 100 120 140 160 180 200 Time [s] Fig 4.21 The yaw motion of unit #5 with SMC under disturbance For further validate the effectiveness of the proposed sliding mode controller in hard condition, the experiment was executed under hard condition that involve strong external wave disturbance The yaw mo- tion response of floating units are shown in Fig 4.17 ∼ Fig 4.21 It can be seen that the installation stage under disturbance effect is smoothly without fluctuation At the time of 120 [sec], additional sudden strong wave have been added, ... for automated installation and operation of the ribbon floating bridge by proposing a mathematical modeling and designing a control system with different approaches The floating bridge system consists... quick installation, and low environ- mental impacts Since the installation and operation of the ribbon floating bridge are mainly carried by manual work, these jobs may contain high risks, particularly... Department of Mechanical System Engineering, The Graduate School, Pukyong National University October 261h, October 2018 2018 A Study on Automated Ribbon Bridge Installation Strategy and Control