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Leveling operation is a very important step in the installation process of offshore jacket platform and it is performed by leveling tool. In this paper, the hydraulic lifting subsystem model of leveling tool is established, and a modified Smith predictor is used to address the time delay problem caused by long pipeline. A composite control strategy combining identical and master slave control mode...
For the complex inter-relationship between the floating bodies relative position and pose in the oil supplies system, a stepwise automated docking system is proposed in this paper. The forward kinematics and inverse kinematics model mechanism for parallel-series position and pose adjustment are developed to perform the numerical simulation. The simulation results show that the mechanism for parallel-series...
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