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

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

부유식 교량 설치방법 및 제어시스템 구축에

관한 연구

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

In Department of Mechanical System Engineering,

The Graduate School,

Pukyong National University

October 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. Jin-Ho 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 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,

i

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

ii

Contents

Acknowledgment .................................................................. i

Content................................................................................. iii

Abstract................................................................................ vi

List of Figures....................................................................... x

List of Tables......................................................................... xvi

Abbreviation ......................................................................... xvii

Nomenclatures......................................................................xviii

Chapter 1. Introduction.................................................... 1

1.1 Background and motivation ....................................... 1

1.2 Problem Statements................................................... 5

1.3 Objective and researching method .............................. 6

1.4 Organization of dissertation ....................................... 8

Chapter 2. 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 ......................................... 12

2.2.2 Electrical design ............................................ 15

2.3 The RFBs Modeling .................................................. 20

iii

2.3.1 General Modeling for Control of the RFBs ...... 20

2.3.2 The Pilot Model of the RFB Modeling for

Control Design .............................................. 22

2.4 System Identification................................................. 25

2.5 Summary.................................................................. 29

Chapter 3. Observer-Based Optimal Control Design

with Linear Quadratic Regulator Technique... 30

3.1 Introduction.............................................................. 30

3.2 Control System Framework........................................ 31

3.3 Observer-based Control Design.................................. 35

3.3.1 State Observer Design.................................... 35

3.3.2 Optimal Controller Design ............................. 38

3.4 Simulation Results .................................................... 42

3.5 Experimental Results................................................. 48

3.6 Summary.................................................................. 58

Chapter 4. Motion Control Performance with Sliding

Mode Control Design ...................................... 59

4.1 Introduction.............................................................. 59

4.2 Sliding Mode Control of MIMO Underactuated System 59

4.3 Simulation results ..................................................... 64

4.4 Experimental results.................................................. 69

4.5 Summary.................................................................. 79

Chapter 5. Conclusions and Future Works....................... 81

5.1 Conclusions.............................................................. 81

5.2 Future works............................................................. 82

References............................................................................. 84

Publication and Conference .................................................. 88

iv

A Study on Automated Ribbon Bridge Installation Strategy and

Control System Design

Van Trong Nguyen

Department of Mechanical System Engineering,

The Graduate School, Pukyong National University

Abstract

Recently, Ribbon Floating Bridges are widely utilized in trans￾portation, especially for emergency restoration in both military and

civil fields thanks to their great advantages of ability to transport

heavy combat vehicles, trucks, 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 in dangerous situation and combat

time. Therefore, it is critical to propose an installation strategy and

self-operation automatically.

This dissertation aims to present a new approach 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 a series of interior and ram

bays connected that can be considered as the multi-link manipulator.

It is confirmed that there is no previous study related to this object

although a lot of researchers paid attention to dynamic analysis. Be￾v

sides, the floating bridge systems normally work in continuous chang￾ing environment and are affected by various of uncertainties such as

current flow, moving load, and other external disturbances that can

lead to position displacement.

To successfully achieve the automatic installation and self-correction

positional displacement of the ribbon floating bridge, the integrated

propulsion systems are included and the yaw motion of every sin￾gle bay is measured by the incremental encoder. The ribbon floating

bridge is loaded in one riverside and then is rotated to the desired

position across the river. In order to maintain the structure and oper￾ation of the bridge system, it is required to ensure the linearity of the

whole bridge and keep its desired position. To completely perform

these task, the followings are carried out:

● Firstly, the ribbon floating bridge system structure description

and dynamic analysis are discussed and system modeling of the rib￾bon floating bridge consisting of five individual coupled floating units

is given. In this system, there will be existences of two passive bays

that do not have propulsion systems. The remaining three active bays

are designed to integrate with three propulsion systems containing

azimuth propellers, direct current motors and motor drivers. Besides,

the yaw displacement between two continuous floating units is mea￾sured by the incremental encoder. The system modeling of the rib￾bon floating bridge describes the kinematics and kinetic of mechani￾cal and electrical operation to obtain a dynamic system expressed by

state equations.

● Secondly, a number of experimental studies is conducted in or￾der to identify the dynamic characteristics of the floating unit. Be￾vi

sides, the propulsion system is also identified through variety of ex￾periments with different step inputs. In order to estimate the affection

of current flow disturbance, an experiment was carried out with sev￾eral assumed water velocities. Among the obtained data, a represen￾tative model is selected. In addition, there are variety of states cannot

be measured directly for feedback, therefore, it is necessary to in￾clude a state estimator in control system. The linear state observer is

designed and implemented. The effectiveness and robustness of the

proposed state estimator are verified by numerical simulations and

experimental results.

● Thirdly, an optimal controller using Linear Quadratic Regula￾tor (LQR) technique is designed and implemented. For the class of

MIMO linear system, the optimal control method is common used

for robust achievement. Based on previous proposed state observer,

the controller gains are defined with the assistance of Matlab soft￾ware. To verify the sufficiency of the given observer-based controller,

a number of numerical simulations with various desired outputs and

distinctive environmental conditions are investigated. For further con￾firmation of practical feasibility of the proposed installation strategy

and control system, the experiment is executed in both calm water

basin and under wave disturbance attack. The obtained results indi￾cate that the proposed control system satisfies the initial objectives.

● Finally, although the optimal LQR based state estimator con￾troller is eligible to achieve the desired control performance, there

will be a raised problem caused by the uncertainties of external dis￾turbance leading to slow response of controller to cope with continu￾ous wave/current flow force. Hence, it is critical to improve the reac￾vii