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Model Predictive Control for Active Heave Compensation Systems


G. König

Master Thesis, HS15 (10434)

Active Heave Compensation (AHC) systems are used in offshore operations where heavy loads are transfered, e. g. oil drilling equipment has to be placed on the seabed in 3000 m depth. The goal of these systems is to compensate for the heave induced motion such that this motion is not transfered to the load. The operator should be able to accurately position the payload. Current AHC systems rely on a very accurate and therefore expensive Motion Reference Unit (MRU) in order to achieve acceptable heave compensation with a Proportional-Integral- Derivative (PID) controller. In this work it is shown that the measurement of a less accurate and therefore much cheaper MRU can be used to achieve acceptable heave compensation when using a prediction of the ship heave movement. Based on this preview of the disturbance a model-based controller achieves the same level of heave compensation while reducing the load on the system components and increasing the energy efficiency. Also it is shown that operation costs can be further reduced with Model Predictive Control (MPC) since the deployability of the vessel depends less on weather conditions.

Supervisors: Pablo Luis Guarnizo (Robert Bosch GmbH), Quang Huy Nguyen (Robert Bosch GmbH), Manfred Morari


Type of Publication:

(12)Diploma/Master Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5381
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