Jerk-Limited Motion Control for Articulated Fluid Loading Arms
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Solution Overview
Problem
Articulated loading arms face challenges in maintaining stable connections and disconnections during fluid transfer between floating structures, particularly on open seas, due to relative movements, which often result in vibrations and oscillations, and require significant human intervention or complex guidance systems.
Innovation Solution
A control device with a Programmable Logic Controller (PLC) and inertial units with GPS, along with hydraulic actuators, generates jerk-limited, dynamic trajectories for smooth movement and automatic connection/disconnection, minimizing vibrations and eliminating the need for physical linkage and guidance systems, using real-time data and algorithms to adapt to environmental changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If physical linkage and guidance systems are used to control the articulated loading arm, then connection stability is improved, but device complexity increases
Solution Approach 1:
The patent replaces physical linkage and guidance systems with a computational approach using a controller that calculates jerk-limited trajectories. Instead of mechanical guidance structures, the system uses real-time computation of motion paths based on current arm configuration and target position, substituting mechanical complexity with algorithmic control.
Solution Approach 2:
The system implements dynamic trajectory calculation that adapts to changing conditions. The controller continuously computes new trajectories based on real-time arm configuration and environmental factors, allowing the system to respond dynamically to relative movements between floating structures without requiring rigid physical guidance.
2Speed
If traditional motion control is used without jerk limitation, then response speed is improved, but vibrations and oscillations increase
Solution Approach 1:
The patent changes the motion control parameters by implementing jerk limitation (rate of change of acceleration). The controller calculates trajectories that constrain not only position and velocity but also acceleration and jerk, fundamentally altering the motion profile to eliminate vibrations while maintaining reasonable response speeds through optimized trajectory planning.
3Ease of operation
If human interface is increased for manual control, then operational flexibility is improved, but automation level decreases
Solution Approach 1:
The system implements self-service through automatic trajectory calculation and execution. The controller autonomously computes jerk-limited trajectories based on sensor feedback and target position, enabling automatic connection and disconnection operations without requiring continuous human intervention or complex manual control interfaces.
Data Source
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AI summary
Device for controlling the movement of one of the ends of an articulated fluid loading arm from a storage position to a target pipe (35) and from this target pipe (35) to the storage position, said arm comprising a fluid transfer line equipped at this end with a coupling system (26), the latter being adapted to be coupled to the target pipe (35) for the transfer of the fluid, which device comprises actuators (27-29) for controlling the movement of the arm in space from the storage position until the coupling system (26) is positioned in front of the target pipe (35) for its coupling to the latter, and from the target pipe (35) to the storage position. This device includes calculation means (41) adapted for: - monitoring in real time the movement of the coupling system (26); - generating, in real time, from the last determined position of the coupling system (26) a trajectory of movement of the coupling system (26) in the direction of the target pipe (35) or the storage position, based on a dynamic jerk-limited motion law; - calculating command instructions to be given to each of the actuators (27-29) in order to control the movement of the coupling system (26) based on this motion law.