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Commande d’un bras de chargement de gaz naturel liquéfié en milieu marin

Abstract : Marine loading arms are articulated structures that transfer liquefied gas between two vessels. The flanging operation of the loading arm to the receiving tanker is very sensitive. This thesis aims to robotize a loading arm so it can flange automatically. The required accuracy for the connection is very high. A calibration procedure is thus proposed to increase the accuracy of loading arms. Moreover a jerk-limited trajectory generator is developed to smoothly drive the arm without inducing oscillation. This element is important because the structures of loading arms have a very low stiffness and easily oscillate, as highlighted by modal analyses.A predictive active compensation algorithm is developed to track without delay the relative motion between the two vessels. This algorithm relies on an artificial neural network able to predict the evolution of this relative motion. Finally this thesis presents the first automatic connection of an offshore loading arm. The success of the final tests validate the feasibility the automatic connection and the validity of this approach.
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Submitted on : Wednesday, September 27, 2017 - 11:57:27 AM
Last modification on : Saturday, June 25, 2022 - 7:49:21 PM
Long-term archiving on: : Thursday, December 28, 2017 - 2:04:25 PM


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  • HAL Id : tel-01596140, version 1



Pierre Besset. Commande d’un bras de chargement de gaz naturel liquéfié en milieu marin. Automatique / Robotique. Ecole nationale supérieure d'arts et métiers - ENSAM, 2017. Français. ⟨NNT : 2017ENAM0011⟩. ⟨tel-01596140⟩



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