Simulation and experiment of a turbine access system with three-axial active motion compensation

Abstract

This study aims to investigate a new turbine access system (TAS) for offshore wind farms in Taiwan Strait sea conditions having a wave period of 7.5 s and a significant wave height of 1.5 m, including the novel system integration of mechanism design, hydraulic driving system, and control system. The dynamic co-simulation of TAS is achieved firstly for confirming the system design and parameters. After that, a full-scale test rig is set up for experimental verification. The vertical height, the roll angle and the vertical acceleration of the TAS end effector can be reduced effectively through the active motion compensation control for improving the access safety of the offshore wind turbine.In simulation, the dynamic modelling of mechanism is implemented by software ADAMS. The hydraulic driving system and the control system are derived mathematically in this study and implemented via MATLAB/SIMULINK. Then, the dynamic simulation of TAS is achieved through the co-simulation of ADAMS and MATLAB/SIMULINK for verifying the active compensation control performance of TAS. In addition, fuzzy sliding mode control is used to develop the roll and pitch controllers for improving the compensation performance.In the experiment, a full-scale test rig of TAS is set up for verifying the effect of active compensation control system experimentally. Through the active compensation control experiment in the full-scale test rig, the vertical height, the rolling angle and the vertical acceleration of the TAS end effector can be reduced and validated by practical experiments.