A study on automated ribbon bridge installation strategy and control system design

Motion Control Performance with Sliding Mode Control Design ..... A Study on Automated Ribbon Bridge Installation Strategy andControl System DesignVan Trong Nguyen Department of Mechanic

Department of Mechanical System

Engineering

The Graduate School

Pukyong National University

October 2018

O cto ber 2 6 1 h , 2018

A Study on Automated Ribbon Bridge Installation Strategy and

Control System Design

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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 O2018ctober 261h,

In Department of Mechanical System Engineering,

The Graduate School,Pukyong National University

October 2018

O cto ber 2 6 1 h , 2018

A Study on Automated Ribbon Bridge Installation Strategy and

Control System Design

A dissertation b

Ji

October 2018

O cto ber 2 6 1 h , 2018

Kim

my respect and from bottom of my heart, I wish myProfessor and his family to have the long-lived health andhappiness.

I would like to thank the members of my thesiscommittee: Prof Suk-Ho Jung, Prof Soo-Yol Ok, Prof.Jin-Ho Suh, and Dr Sang- Won Ji who have providedwonderful feedback on my work and great suggestions forbetter contribution of my dissertation

I am also grateful to Prof Kyoung-Joon Kim, my formerMaster advisor, and Dr Anh-Minh Duc Tran from Ton DucThang University for essential assistances Without theirintroduction, I would not have the chance to finish my study

in Marine Cybernetics Laboratory

Besides, I would like to thank all members of Marine

encouragement, and friendship giving me a comfortable andactive environment to achieve my work: Manh Son Tran,

Nhat Binh Le, Duc Quan Tran, Eun-Ho Choi, Dong- HoonLee, Dae-Hwan Kim, Mi-Roo Sin, Soumayya Chakir and allother foreign friends.

Thanks are due to all members of Vietnamese Students’Associa- tion in Korea, especially Dr Huy Hung Nguyen, Dr.Van Tu Duong,

8

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 mylife Without their supports, there will be a lot of difficultiesfor my to finish my graduate study seamlessly

Finally, I owe more than thanks to my wonderful wifeThuy Linh Dang for her unconditional love, endlessencouragement not only all the time of my study but also inwhole of my life ahead

Pukyong National University, Busan,

KoreaOctober 26,2018

Van TrongNguyen

Introduction 11.1 Background and motivation

2.3.1 General Modeling for Control of the RFBs

Chapter 3 Observer-Based Optimal Control Design

with Linear Quadratic Regulator Technique 303.1 Introduction

Chapter 4 Motion Control Performance with Sliding

Mode Control Design 59

4.1 Introduction

59

Chapter 5 Conclusions and Future Works 81

5.1 Conclusions

81

5.2 Future

works 82References 84

Publication and Conference

88

A Study on Automated Ribbon Bridge Installation Strategy and

Control System DesignVan Trong Nguyen

Department of Mechanical System Engineering,

The Graduate School, Pukyong National University

Abstract

Recently, Ribbon Floating Bridges are widely utilized intrans- portation, especially for emergency restoration inboth military and civil fields thanks to their greatadvantages of ability to transport heavy combat vehicles,trucks, quick installation, and low environ- mental impacts.Since the installation and operation of the ribbon floatingbridge are mainly carried by manual work, these jobs maycontain high risks, particularly in dangerous situation andcombat time Therefore, it is critical to propose aninstallation strategy and self-operation automatically.This dissertation aims to present a new approach forautomated installation and operation of the ribbon floatingbridge by proposing a mathematical modeling and designing

a control system with different approaches

The floating bridge system consists a series of interiorand ram bays connected that can be considered as themulti-link manipulator It is confirmed that there is no

previous study related to this object although a lot ofresearchers paid attention to dynamic analysis Be-

sides, the floating bridge systems normally work incontinuous chang- ing environment and are affected byvarious of uncertainties such as current flow, moving load,and other external disturbances that can lead to positiondisplacement.

To successfully achieve the automatic installation and correction positional displacement of the ribbon floating bridge, the integrated propulsion systems are included and the yaw motion of every sin-

self-gle bay is measured by the incremental encoder Theribbon floating bridge is loaded in one riverside and then isrotated to the desired position across the river In order tomaintain the structure and oper- ation of the bridge system,

it is required to ensure the linearity of the whole bridge andkeep its desired position To completely perform thesetask, the followings are carried out:

● Firstly, the ribbon floating bridge system structure description

and dynamic analysis are discussed and system modeling ofthe rib- bon floating bridge consisting of five individualcoupled floating units is given In this system, there will beexistences of two passive bays that do not have propulsionsystems The remaining three active bays are designed tointegrate with three propulsion systems containing azimuthpropellers, direct current motors and motor drivers Besides,the yaw displacement between two continuous floating units

is mea- sured by the incremental encoder The system

kinematics and kinetic of mechani- cal and electricaloperation to obtain a dynamic system expressed by stateequations

● Secondly, a number of experimental studies is conducted

in

or-der to identify the dynamic characteristics of the floatingunit Be-

sides, the propulsion system is also identified throughvariety of ex- periments with different step inputs In order toestimate the affection of current flow disturbance, anexperiment was carried out with sev- eral assumed watervelocities Among the obtained data, a represen- tativemodel is selected In addition, there are variety of statescannot be measured directly for feedback, therefore, it isnecessary to in- clude a state estimator in control system.The linear state observer is designed and implemented Theeffectiveness and robustness of the proposed stateestimator are verified by numerical simulations andexperimental results.

● Thirdly, an optimal controller using Linear Quadratic Regula-

tor (LQR) technique is designed and implemented For theclass of MIMO linear system, the optimal control method

is common used for robust achievement Based onprevious proposed state observer, the controller gains aredefined with the assistance of Matlab soft- ware To verifythe sufficiency of the given observer-based controller, anumber of numerical simulations with various desiredoutputs and distinctive environmental conditions areinvestigated For further con- firmation of practicalfeasibility of the proposed installation strategy and controlsystem, the experiment is executed in both calm waterbasin and under wave disturbance attack The obtainedresults indi- cate that the proposed control system satisfies

tion time of controller that quickly adapts with uncertainties

as well as external disturbance To eliminate with theunexpected attacks of external disturbance and improvethe reaction time, a sliding mode controller (SMC) isproposed for under-actuated system Simulation andexperimental results illustrate the effectiveness of theproposed controller including the ability to overcomecontinuous wave during installation phase and the robuststable of position keeping phase

Fig 2.1 A proposed installation strategy for the ribbon

bridge 12

Fig 2.2 Diagram of five-bay ribbon bridge model

Fig 2.7 The photo and specification of NI

Fig 2.11 The photo and specification of the propeller 20

Fig 2.12 The structure of five-floating unit bridge system 23

Fig 2.13 The experiment setup for propulsion system

identification 26

Fig 2.14 The input step voltage and the obtained output

force 26

Fig 2.15 The fitting result of identified model for

propul-sion

system 27

Fig 2.16 The experiment setup for inertia and

damping coefficient identification 28Fig 2.17 The least square data fitting result

28Fig 3.1 The servosystem for positional control of theRFB system 35

Fig 3.2 The diagram of a full-state observer

structure 36

43 43 43 44 44Fig 3.8 The control input voltage for propulsion systems

in ideal condition 44Fig 3.9 The yaw motion of floating unit no 1 under

disturbance 45

Fig 3.10 The yaw motion of floating unit no 2 under

disturbance 46

Fig 3.11 The yaw motion of floating unit no 3 under

disturbance 46

Fig 3.12 The yaw motion of floating unit no 4 under

disturbance 46

Fig 3.13 The yaw motion of floating unit no 5 under

disturbance 47

Fig 3.14 The control input for propulsion systems

under disturbance

47

Fig 3.15 The experiment setup for RFB installation

and position keeping control

48

Fig 3.16 The yaw motion of floating unit no 1 in

calm

water 49

Fig 3.17 The yaw motion of floating unit no 2 in

calm

water 50

Fig 3.18 The yaw motion of floating unit no 3 in

calm

water 50

Fig 3.19 The yaw motion of floating unit no 4 in

calm

water 50

Fig 3.20 The yaw motion of floating unit no 5 in

calm

water 51

Fig 3.21 The control input for propulsion systems in

calm

water 51

Fig 3.22 The yaw angle displacement between #1 unit

and #2 unit

52Fig 3.23 The yaw angle displacement between #2 unit

and #3 unit

52Fig 3.24 The yaw angle displacement between #3 unit

and #4 unit

53Fig 3.25 The yaw angle displacement between #4 unit

and #5 unit

53Fig 3.26 The yaw motion of unit #1 with external distur-

bance 54

Fig 3.27 The yaw motion of unit #1 with external

distur-bance 54

Fig 3.28 The yaw motion of unit #1 with external

distur-bance 54

Fig 3.29 The yaw motion of unit #1 with external

distur-bance 55

Fig 3.30 The yaw motion of unit #1 with external

distur-bance 55

Fig 3.31 The control input for propulsion systems with

and #3 unit

56Fig 3.34 The yaw angle displacement between #3 unit

and #4 unit

57Fig 3.35 The yaw angle displacement between #4 unit

Fig 4.4 Yaw angle deviation of floating unit #4

Fig 4.8 The yaw motion of unit #1 with SMC in

calm

water 70

Fig 4.10 The yaw motion of unit #1 with SMC in

calm

water 70

Fig 4.9 The yaw motion of unit #1 with SMC in

calm

water 71

Fig 4.11 The yaw motion of unit #1 with SMC in

calm

water 71

Fig 4.12 The yaw displacement between unit #1 and unit

#2 with SMC in calm water

72

Fig 4.13 The yaw displacement between unit #2 and unit

#3 with SMC in calm water

72

Fig 4.14 The yaw displacement between unit #3 and unit

#4 with SMC in calm water

73

Fig 4.15 The yaw displacement between unit #4 and unit

#5 with SMC in calm water

73

Fig 4.16 The control forces generated by propulsion

system in calm water condition

74

Fig 4.17 The yaw motion of unit #1 with SMC under

disturbance 75

Fig 4.18 The yaw motion of unit #2 with SMC under

disturbance 75

Fig 4.19 The yaw motion of unit #3 with SMC under

disturbance 75

Fig 4.20 The yaw motion of unit #4 with SMC under

disturbance 76

Fig 4.21 The yaw motion of unit #5 with SMC under

disturbance 76

Fig 4.26 The force commands generated by propulsion

systems under disturbance condition

79

Abbreviation

DAQ Data Acquisition

DC Direct currentIRB Improved Ribbon Bridge LQR Linear Quadratic Regulator MIMO Multi input multie output RFB Ribbon Floating Bridge SMC Sliding mode control

SMC design

−1unit

-fixed z-axis

Control gain matrix for LQR controller

Gain matrix for SMC

-

transla-−1)

Observer gain matrix

The floating unit’s mass

kg

-x Modeling state variable vector

wd The water current disturbance vector

-wv The arms of propulsion and water

current forces

θi The yaw angle of the ith floating unit (in

this study, the counterclockwise is the

forward

di-rection of rotation motion)

m rad

θ˙i The yaw velocity of the ith floating unit

moments N ⋅ m

γ Positive constant

-Chapter 1 Introduction

1.1 Background and motivation

With the dense network of water obstacles around theworld such as rivers, lakes, and channels, the demand ofwater crossing is getting more and more important.Regarding the means of water obstacle crossing, it mayrefer to several efficient methods [1] as follows:

• Bridging system is the most popular structure untilnow In term of water crossing purpose, the bridge

is constructed to connect two sides of rivers, lakes,

or even ocean There are many designs of bridgesystems that satisfy particular objec- tives or differentconditions However, there are two main types ofbridges that can be considered as permanent bridges(fixed bridge) which are build in a place and theothers are tempo- ral bridges that can be portableand rebuild in any necessary place The ribbonfloating bridge, one particular kind of tem- poralbridge system, will be the major object of our study

• The second type should be tunnel The tunnel is fardifferent from other kinds of water obstacle crossingwith the under- ground structure or dug through thesurrounding soil/earth/rock

• Another type of popular water obstacle crossing isferry Its operation is similar to the surface vessel

2 2

but in short distance and the main tasks are carryingpassengers, vehicles, and cargo across a body ofwater

In term of temporal bridging, the ribbon floating bridge [2],also

called foldable float bridge is great importance fortransportation, es- pecially for emergency restoration inboth military and civil fields Compared to land-basedbridges, there are variety of recognized ad- vantages such

as the ability to transport heavy loads including ve- hicles,rapid installation, uncomplicated structure, and low environ-mental impacts The most significant characteristic that isonly avail- able in this means of bridging is the ability torelocate thanks to its

great

portability

Fig 1.1 The actual ribbon bridge system

The ribbon floating bridge was developed in 1970s inboth Ger- many by the former EWK and by the company in

US and by NATO agreement it was decided to make bothsystems fully inter-operable Since then, the ribbon floating

2 4

bridges are commonly used in army force of differentcountries including Germany, Canada, Australia, US, and so

on with great success [3] The actual structure of the bon float can be seen at Fig 1.1 Most floating bridges aremade from