Modeling and controller design of an active motion compensated gangway based on inverse dynamics in joint space

摘要

An active motion compensated gangway is important and efficient equipment for personal transferring from a supply vessel to wind turbines or other structures, vice versa. This paper aims to explore the kinematics and dynamics of a serial motion compensated gangway, and to design a controller of it. In this paper, the prototype of a serial manipulator is taken as the research object. The kinematics and dynamics of the system are established, respectively, and the Euler-Lagrangian equation is adopted. The supply vessel is regarded as six degrees of freedom Dynamic Positioning (DP) model, and motions in seaway are analyzed. An improved dynamics controller is adopted in this paper. Compared with PD controller with gravity, simulations are carried out both in situations that the gangway tip moves with desired trajectories and docking situations. Both simulation results reveal that the controller adopted in this paper perform well, and the steady state errors are decreased significantly, which are desirable in practice.