One of the main design objectives for electric drivetrains operating in offshore drilling equipment is to keep them as small, yet as effective, as possible, to minimize space they occupy on drill floor and maximize their performance. However, practical experience shows that typically choices made by design engineers are too conservative due to the lack of enough data characterizing load conditions. This results in too costly and too heavy selected components. Therefore, in the current paper we present a method to estimate required full-scale motor torque using a scaled down experimental setup and its computational model. A gripper arm of an offshore vertical pipe handling machine is selected as a case study for which the practical significance of the current work is demonstrated. The presented method has a potential to aid design of electrically actuated offshore drilling equipment and help design engineers choose correctly dimensioned drivetrain components.

References

References
1.
Roos
,
F.
,
Johansson
,
H.
, and
Wikander
,
J.
,
2006
, “
Optimal Selection of Motor and Gearhead in Mechatronic Applications
,”
Mechatronics
,
16
(
1
), pp.
63
72
.
2.
Pettersson
,
M.
, and
Ölvander
,
J.
,
2009
, “
Drive Train Optimization for Industrial Robots
,”
IEEE Trans. Rob.
,
25
(
6
), pp.
1419
1424
.
3.
Birk
,
L.
,
2009
, “
Application of Constrained Multi-Objective Optimization to the Design of Offshore Structure Hulls
,”
ASME J. Offshore Mech. Arct. Eng.
,
131
(
1
), p.
011301
.
4.
Tanaka
,
R. L.
, and
Martins
,
C. D. A.
,
2011
, “
Parallel Dynamic Optimization of Steel Risers
,”
ASME J. Offshore Mech. Arct. Eng.
,
133
(
1
), p.
011302
.
5.
Martins
,
M. R.
, and
Burgos
,
D. F. S.
,
2011
, “
Multi-Objective Optimization Design of Tanker Ships Via a Genetic Algorithm
,”
ASME J. Offshore Mech. Arct. Eng.
,
133
(
4
), p.
041303
.
6.
Ni
,
S.
,
Qiu
,
W.
,
Zhang
,
A.
, and
Prior
,
D.
,
2015
, “
Hydrodynamic Simulation and Optimization of an Oil Skimmer
,”
ASME J. Offshore Mech. Arct. Eng.
,
137
(
2
), p.
021301
.
7.
Siddiqi
,
A.
,
Bounova
,
G.
,
de Weck
,
O. L.
,
Keller
,
R.
, and
Robinson
,
B.
,
2011
, “
A Posteriori Design Change Analysis for Complex Engineering Projects
,”
ASME J. Mech. Des.
,
133
(
10
), p.
101005
.
8.
Arendt
,
J. L.
,
McAdams
,
D. A.
, and
Malak
,
R. J.
,
2012
, “
Uncertain Technology Evolution and Decision Making in Design
,”
ASME J. Mech. Des.
,
134
(
10
), p.
100904
.
9.
Camburn
,
B.
,
Dunlap
,
B.
,
Gurjar
,
T.
,
Hamon
,
C.
,
Green
,
M.
,
Jensen
,
D.
,
Crawford
,
R.
,
Otto
,
K.
, and
Wood
,
K.
,
2015
, “
A Systematic Method for Design Prototyping
,”
ASME J. Mech. Des.
,
137
(
8
), p.
081102
.
10.
Correa
,
P.
,
Pacas
,
M.
, and
Rodríguez
,
J.
,
2007
, “
Predictive Torque Control for Inverter-Fed Induction Machines
,”
IEEE Trans. Ind. Electron.
,
54
(
2
), pp.
1073
1079
.
11.
Yang
,
J.
, and
Zhu
,
G.
,
2015
, “
Adaptive Recursive Prediction of the Desired Torque for a Hybrid Powertrain
,”
IEEE Trans. Veh. Technol.
64
(
8
), pp.
3402
3413
.
12.
Papafotiou
,
G.
,
Kley
,
J.
,
Papadopoulos
,
K.
,
Bohren
,
P.
, and
Morari
,
M.
,
2009
, “
Model Predictive Direct Torque Control—Part II: Implementation and Experimental Evaluation
,”
IEEE Trans. Ind. Electron.
,
56
(
6
), pp.
1906
1915
.
13.
Harnefors
,
L.
,
2003
,
Control of Variable-Speed Drives
,
Mälardalen University
,
Västerås, Sweden
.
14.
Pawlus
,
W.
,
Choux
,
M.
,
Hovland
,
G.
, and
Huynh
,
V. K.
,
2014
, “
Parameters Identification of Induction Motor Dynamic Model for Offshore Applications
,”
2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)
, pp.
1
6
.
15.
Bose
,
B. K.
,
2002
,
Power Electronics and AC Drives
,
Prentice Hall
,
Upper Saddle River, NJ
.
16.
Novotny
,
D. W.
, and
Lipo
,
T. A.
,
1996
,
Vector Control and Dynamics of AC Drives
,
Oxford University Press
,
New York
.
17.
de Wit
,
C. C.
,
Olsson
,
H.
,
Åström
,
K. J.
, and
Lischinsky
,
P.
,
1995
, “
A New Model for Control of Systems With Friction
,”
IEEE Trans. Autom. Control
,
40
(
3
), pp.
419
425
.
18.
Pawlus
,
W.
,
Choux
,
M.
,
Hovland
,
G.
,
Øydna
,
S.
, and
Hansen
,
M. R.
,
2014
, “
Modeling and Simulation of an Offshore Pipe Handling Machine
,”
SIMS 55th Conference on Simulation and Modeling
, pp.
277
284
.
19.
Lian
,
K.-Y.
,
Hung
,
C.-Y.
,
Chiu
,
C.-S.
, and
Liu
,
P.
,
2005
, “
Induction Motor Control With Friction Compensation: An Approach of Virtual-Desired-Variable Synthesis
,”
IEEE Trans. Power Electron.
,
20
(
5
), pp.
1066
1074
.
20.
Gutierrez-Villalobos
,
J.
,
Rodriguez-Resendiz
,
J.
,
Rivas-Araiza
,
E.
, and
Mucino
,
V.
,
2013
, “
A Review of Parameter Estimators and Controllers for Induction Motors Based on Artificial Neural Networks
,”
Neurocomputing
,
118
, pp.
87
100
.
21.
Pawlus
,
W.
,
Karimi
,
H.
, and
Robbersmyr
,
K.
,
2010
, “
Analysis of Vehicle to Pole Collision Models: Analytical Methods and Neural Networks
,”
Int. J. Control Theory Appl.
,
3
(
2
), pp.
57
77
.
22.
Zhao
,
L.
,
Pawlus
,
W.
,
Karimi
,
H.
, and
Robbersmyr
,
K.
,
2014
, “
Data-Based Modeling of Vehicle Crash Using Adaptive Neural-Fuzzy Inference System
,”
IEEE/ASME Trans. Mechatronics
,
19
(
2
), pp.
684
696
.
23.
Technosoft,
2011
, DMCode-MS(IM) MATLAB Library for MCK28335.
24.
Hinkkanen
,
M.
,
Repo
,
A.-K.
,
Ranta
,
M.
, and
Luomi
,
J.
,
2010
, “
Small-Signal Modeling of Mutual Saturation in Induction Machines
,”
IEEE Trans. Ind. Appl.
,
46
(
3
), pp.
965
973
.
25.
Bonchis
,
A.
,
Corke
,
P.
, and
Rye
,
D.
,
2002
, “
Experimental Evaluation of Position Control Methods for Hydraulic Systems
,”
IEEE Trans. Control Syst. Technol.
,
10
(
6
), pp.
876
882
.
26.
Aziz
,
M.
, and
Mohd-Mokhtar
,
R.
,
2010
, “
Performance Measure of Some Subspace-Based Methods for Closed-Loop System Identification
,”
2010 Second International Conference on Computational Intelligence, Modeling and Simulation (CIMSiM)
, pp.
255
260
.
27.
Rouse
,
E.
,
Hargrove
,
L.
,
Perreault
,
E.
, and
Kuiken
,
T.
,
2012
, “
Estimation of Human Ankle Impedance During Walking Using the Perturberator Robot
,”
Fourth IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
, pp.
373
378
.
You do not currently have access to this content.