Numerical simulation and control loop optimization of the electric heave compensation system for the ship crane
K V Chupina, A M Khannanov, Viktor Usoltsev
Abstract
The paper is devoted to a problem of synthesis of the automatic electric drive for the heave compensating mechanism of the ship crane. The main disturbance for the drive of the compensating mechanism is load torque caused by ship's heave and sea waves. Ship's heave and sea waves are stochastic processes. For the synthesis of the automatic control system of the electric drive, the identification problem for main disturbance was solved. The designed mathematical model of sea waves allows one to synthesize the automatic system with the modal controller, observer and hybrid feedback-feedforward architecture. As result, vertical displacements of a towed underwater vehicle have been reduced hundreds of times.