Optimized semi-active PID controller for offshore cranes

The oil and gas industry is one of the most hazardous environments and growing demanding industries, with inherent dangers that can be difficult to manage at times. This is owing to the dangerous nature of the materials used, as well as the importance of the jobs that personnel must do. Cranes are commonly used in this industry for a variety of tasks, including transporting equipment, performing maintenance, and providing management services for offshore areas. The evidence shows that improper load lifting or handling can result in catastrophic unintentional situations such as fires, explosions, and hazardous dispersion, thus the safety and the correct control of the performance of lifting activities and model become of critical task. This work aims to complete an already done model of an offshore crane by replace a flexible beam to the rigid beam that is already exist in the old model and then compare the results by transforming time-amplitude diagram into a Bode frequency diagram so it be easily interpreted. When studying complex mechanical systems, it is useful to build models able to simulate both the dynamics of the phenomenon and the control system applied. Typically, the bodies involved are modeled as rigid bodies. This task is discussed in Chapter 2.The second task of this work, which involves around the security the structure, is to optimize the controller parameters. In this task a PID control is used to minimize the position errors. In the original model, the values of the parameters were obtained by“Trial and error” method. Artificial Intelligence algorithms were used to optimize the controller parameters.