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
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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

October 261h,
October
2018

2018


In Department of Mechanical System Engineering,
The Graduate School,
Pukyong National University

October 261h,
October
2018

2018


A Study on Automated Ribbon
Bridge Installation Strategy and
Control System Design
A

dissertation
by

Van Trong Nguyen

Approved as to styles and contents by:

(Chairman) Prof. Jin-Ho Suh

(Member) Prof. Suk-Ho Jung

(Member) Dr. Sang-Won

Ji

October 261h,
October
2018

2018


(Member) Prof. Soo-Yol Ok

(Member) Prof. Young-Bok

Kim

October 261h,
October

2018

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. JinHo 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

6i


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,

7i


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

8i


Contents
Acknowledgment ...........................................................

.......

i

Content

................................................................................
.

iii

Abstract

................................................................................
vi

List

of

Figures

.......................................................................

x

List

of

Tables........................................................................
.

xvi

Abbreviation

.........................................................................

xvii

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

Chapter

Introduction....................................................
1.1 Background and motivation
1.2 .......................................
Problem

1.
1

1
5
Statements................................................
1.3 Objective and researching method
6
..............................

1.4 Organization of dissertation
8
.......................................
33


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
.........................................
2.2.2 Electrical design
............................................
2.3 The RFBs Modeling
.................................................. 20

44

1
2
1


2.3.1 General Modeling for Control of the RFBs 2
......
0
2.3.2 The Pilot Model of the RFB Modeling for
Control Design
2
..............................................
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

55


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.
81

Conclusions and Future Works .......................

5.1 Conclusions
.............................................................. 81
5.2 Future
works............................................................. 82
References......................................................................
....... 84
Publication and Conference
.................................................. 88

66


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

77


previous study related to this object although a lot of
researchers paid attention to dynamic analysis. Be-

88


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 selfcorrection positional displacement of the ribbon floating
bridge, the integrated propulsion systems are included and
the yaw motion of every single 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
66


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 order to identify the dynamic characteristics of the floating
unit. Be-

77


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

estimator

and robustness

are verified

of the proposed state

by numerical

simulations

and

experimental results.
● Thirdly, an optimal controller using Linear Quadratic
Regulator (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
outputs

and

investigated.

distinctive

For

further

with various desired

environmental
con-

conditions

firmation

of

are

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.
88


● Finally, although the optimal LQR based state estimator
controller

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-

99


tion time of controller that quickly adapts with uncertainties
as well as external disturbance. To eliminate with the
unexpected attacks of external disturbance and improve
the reaction time, a sliding mode controller (SMC) is
proposed

for

under-actuated

system.

Simulation

experimental results illustrate the effectiveness
proposed controller

including the ability

and

of the

to overcome

continuous wave during installation phase and the robust
stable of position keeping phase.

88


List of Figures
Fig. 1.1 The actual ribbon bridge
system.......................... 2
Fig. 1.2

Conventional methods for ribbon bridge installation ...........................................................
..... 3

Fig. 2.1

A proposed installation strategy for the ribbon
bridge ..........................................................
..... 12

Fig. 2.2 Diagram of five-bay ribbon bridge model
structure 13
Fig. 2.3 Structure of the active bay
.................................. 14
Fig. 2.4 Structure of the passive bay
................................ 15
Fig. 2.5
.. 16

The configuration diagram of the control system

Fig. 2.6

The photo and specification of the
incremental encoder
.............................................................
16

Fig. 2.7 The photo and specification of NI PXIe6363....... 18
Fig. 2.8 The photo and specification of NI PXI-6221
........ 18
Fig. 2.9 The photo and specification of NI PXI-6221
........ 19

Fig. 2.10 The photo and specification of DC
motor............. 19

99


Fig. 2.11 The photo and specification of the propeller
......... 20
Fig. 2.12 The structure of five-floating unit bridge system
... 23
Fig. 2.13 The experiment setup for propulsion system
identification ..............................................
....... 26
Fig. 2.14 The input step voltage and the obtained output
force ...........................................................
...... 26
Fig. 2.15 The fitting result of identified model for propulsion
system........................................................
27

10
10


Fig. 2.16 The experiment setup for inertia and
damping coefficient identification
..................................... 28
Fig. 2.17 The least square data fitting result .......................
28
Fig. 3.1

The servosystem for positional control of the

RFB system....................................................... 35
Fig. 3.2

The diagram of a full-state observer
structure....... 36

Fig. 3.3 The yaw angle deviation of floating unit...... 43
no. 1
Fig. 3.4 The yaw angle deviation of floating unit...... 43
no. 2
Fig. 3.5 The yaw angle deviation of floating unit...... 43
no. 3
Fig. 3.6 The yaw angle deviation of floating unit...... 44
no. 4
Fig. 3.7 The yaw angle deviation of floating unit...... 44
no. 5
Fig. 3.8 The control input voltage for propulsion systems
in ideal condition ............................................... 44
Fig. 3.9

The yaw motion of floating unit no. 1 under
disturbance ...............................................
......... 45

Fig. 3.10 The yaw motion of floating unit no. 2 under
disturbance ...............................................
......... 46

Fig. 3.11 The yaw motion of floating unit no. 3 under
disturbance ...............................................
......... 46
Fig. 3.12 The yaw motion of floating unit no. 4 under
disturbance ...............................................
......... 46
11
11


Fig. 3.13 The yaw motion of floating unit no. 5 under
disturbance ...............................................
......... 47
Fig. 3.14 The control input for propulsion systems
under disturbance
........................................................ 47

12
12


Fig. 3.15 The experiment setup for RFB installation
and position keeping control
..................................... 48
Fig. 3.16 The yaw motion of floating unit no. 1 in
calm
water.......................................................
.......... 49
Fig. 3.17 The yaw motion of floating unit no. 2 in
calm

water.......................................................
.......... 50
Fig. 3.18 The yaw motion of floating unit no. 3 in
calm
water.......................................................
.......... 50
Fig. 3.19 The yaw motion of floating unit no. 4 in
calm
water.......................................................
.......... 50
Fig. 3.20 The yaw motion of floating unit no. 5 in
calm
water.......................................................
.......... 51
Fig. 3.21 The control input for propulsion systems in
calm
water.........................................................
51
Fig. 3.22 The yaw angle displacement between #1 unit

13
13


and #2 unit
........................................................ 52
Fig. 3.23 The yaw angle displacement between #2 unit
and #3 unit
........................................................ 52
Fig. 3.24 The yaw angle displacement between #3 unit

and #4 unit
........................................................ 53
Fig. 3.25 The yaw angle displacement between #4 unit
and #5 unit
........................................................ 53
Fig. 3.26 The yaw motion of unit #1 with external disturbance ..........................................................
...... 54
Fig. 3.27 The yaw motion of unit #1 with external disturbance ..........................................................
...... 54

14
14