Arch. Mech. Tech. Mater.Vol.

37 (2017) 76-78

Archives of Mechanical Technology and Materials

www.amtm.put.poznan.pl

Design of The Test Stand for Hydraulic Active Heave Compensation

System
Arkadiusz Jakubowskia*, Arkadiusz Kubackia, Dominik Rybarczyka
aPoznan University of Technology, Piotrowo 3 Street, 60-965 Poznan, Poland
* e-mail address: arkadiusz.z.jakubowski@doctorate.put.poznan.pl

ARTICLE INFO ABSTRACT

Received 14 March 2017 The article presented here described the design of a test stand for hydraulic active
Received in revised form 14 June 2017 heave compensation system. The simulation of sea waves is realized by the use of
Accepted 22 June 2017 hydraulic cylinder. A hydraulic motor is used for sea waves compensation. The
hydraulic cylinder and the hydraulic motor are controlled by electrohydraulic
servo valves. For the measurements Authors used displacement sensor and
incremental encoder. Control algorithm is implemented on the PLC. The
performed tests included hydraulic actuator and hydraulic motor step responses.
KEY WORDS

Heave compensation, active heave, winch

system, control systems, servo valve

1. INTRODUCTION describe the heave compensation during the load insertion

into the water [7, 8, 4].
Electrohydraulic servodrives are used in various types of
industrial applications. Their main advantage is to achieve 2. THE EXPERIMENTAL SETUP
large forces by the small electric signal. Basic information
about electrohydraulic servodrives eg. pumps, cylinders, In order to perform experimental research Authors
valves are in [1,5,6,9]. designed the dedicated test stand. The control system was
Operations on the ship, such as drilling, load handling, based on PLC with touch panel type Power Panel 500. The
observation of the seabed especially during rough seas are PLC was connected to the servovalves via dedicated valves
difficult to execute. For this reason, the active heave amplifier (control cards). The test stand for active heave
compensation is applied [10]. There are two types of heave compensation system is presented in fig. 1.The control
compensation.The first is a passive heave compensation. For system schematic is presented in fig.2. The test stand consists
example Hatleskog and Dunnigan [2] studied the passive of: PC (no. 13) and PLC (no. 14), which are used to control the
heave compensation system using a pneumatic actuator to electrohydraulic servo valves (no. 3, 4). The actual position of
the motion compensation drilling ship. The second way of the hydraulic actuator (double acting cylinder) (no. 1) is
compensation heave is an active heave compensation. Korde measured using a displacement sensor (no. 5) and obtained
[3] showed the application of active heave compensation results are sent to the PLC. Measuring the position of the
system for the ship drilling, which operates irregular waves. shaft of the hydraulic motor (no. 2) is implemented by using
In this publication the ship is shown as coupled mechanical an incremental encoder (no. 6), and is also sent to the PLC.
oscillators. The movement of the load can be damped by The hydraulic motor is fixed to the actuator by the
adding additional unbalance mass. Other publications intermediate plate (no. 11). For the intermediate plate

DOI: 10.1515/amtm-2017-0012 © 2017 Author(s). This is an open access article distributed under the Creative
Commons Attribution-NonCommercial-NoDerivs license
(http://creativecommons.org/licenses/by-nc-nd/3.0/)
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incremental encoder is mounted on the handle (no. 12). On measuring the actual position of the cylinder Authors used
the shaft of the hydraulic motor a drum is mounted (no. 8) on inductive displacement transducer WFS/500 with range 500
which a steel cable is wound (no. 9). At the end of the steel mm and for measuring the hydraulic motor actual position
cable steel load is fixed (no. 10). When lifting up and they used incremental encoder with range 1000 pulse rate.
lowering the actuator a piston rod may rotate. If the piston
rod rotates it will rotate all the elements mounted on the end
of the piston rod. To eliminate rotating of the piston rod we
use two steel bars (no. 7). Then a piston rod moves along the
rod - rotation of the piston rod is blocked.

a)

b)
Fig. 3. P controller schematic: a) for hydraulic cylinder, b) for
hydraulic motor

3. THE EXPERIMENTAL TESTS

The first step was to check step responses of the

hydraulic actuator and hydraulic motor for different values of
Fig. 1. The experimental stand for active heave compensation gain kp. The experiment was performed for the supply
pressure p0 equal to 10 MPa. The collected data was shown
on fig. 4 and fig. 5.The purpose of the presented above test
was to examine the dynamics of the electrohydraulic drive
(hydraulic cylinder) and especially hydraulic motor. The
settlink time (95%) for hydraulic cylinder was T= 0,78s for
kp=40 and for hydraulic motor was T= 0,37s for kp=80.
The next step was to perform tests of both drives
(hydraulic motor and cylinder) at the same time. The load
was lifted up and down by means of the hydraulic motor. The
hydraulic motor followed the actuator. The hydraulic actuator
was excited by the use of the step-type signal with range of
100 mm. Gain value P controller was kp = 40 for the cylinder
and kp = 80 for the hydraulic motor. The result is shown in fig.
6. The max delay timeTmax was equal to 100ms.

Fig. 2. The control system schematic

The hydraulic actuator and the hydraulic motor were

controlled using a proportional regulator (fig. 3). The stroke
of the hydraulic cylinder was equal to 400 mm. The
diameters of piston were equal to: 60 mm and 100 mm. Max
Fig. 4. The response of the hydraulic actuator at different gain of
output power of hydraulic motor was equal to 16 kW and
controller
max rotary speed was equal to 810 rpm. The hydraulic power
supply used is characterized by the following parameters:
maximum flow rate= 100 dm3/min, maximum pressure p0=
40 MPa, motor power = 37 kW, filtration at 6 microns. For

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4. CONCLUSION

The article describes the design of the test stand for

checking of the active hydraulic heave compensation system
properties. The system was tested for various parameters of
the proportional controller. For the tests a test stand was
built with a dedicated control system.
Further research aims to examine different variants of
controllers such as PD, MPC controller and preliminary
examination of the action of active heave compensation. The
test stand provides installation of various type of sensors
such as: accelerometer, barometer, force sensor. Through the
application of these sensors it will be possible to check
motion of the load and implement more complex control
system.
Fig. 5. The step response of hydraulic motor at different gain of
controller ACKNOWLEDGEMENTS

The work described in this paper was funded from

02/23/DS-PB/120 (Nowe techniki w urzadzeniach
mechatronicznych).

REFERENCES

[1] GalalRabie, M., Fluid Power Engineering, New York 2009.

[2] Hatleskog, J.T., Dunningan, M.W., Heave compensation
simulation for noncontact operations on deep water, In:
OCEANS 2006, September, 1-6.
Tmax
[3] Korde, U.A., Active heave compensation on drill-ships in
irregular waves, Ocean Engineering vol. 25, No. 7, (1998) 541 –
561.
[4] Messineo, S., Serrani, A., Offshore crane control based on
adaptive external models, Automatica 45 (2009) 2546 – 2556.
[5] Osiecki, A., Hydrostatyczny Napęd Maszyn, WNT, Warszawa
1998.
[6] Pizoń, A., Hydrauliczne i elektrohydrauliczne układy
Fig. 6. The response of cylinder and hydraulic motor
sterowania i regulacji, WNT, Warszawa 1987.
[7] Sagatun, S.I., Active control of underwater installation, IEEE
The last step was to test the positioning of the hydraulic Trans. Control Syst. Technol, 10 September, 743 – 748.
actuator and the hydraulic motor for sine signal. The actuator [8] Sarpkaya, T., Issacson, M., Mechanics of Waves Forces on
moved according to the sine signal. The hydraulic motor Offshore Structures, Van Nostrand Reinhold, New York (1987)
followed the actuator. The gain value P controller was kp = 40 354 – 366.
for cylinder and kp = 80 for hydraulic motor. The period of [9] Stryczek, S., Napęd Hydrostatyczny Tom I Elementy, WNT,
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(2015) 140 – 154.

Fig. 7. The experimental results.The response of cylinder and

hydraulic motorfor sine signal

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