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A study on the control system design for ship mooring winch system
김영복 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.3
This paper considers the control system design problem of a barge type surface vessel. The main role of a barge ship is to carry andsupply cargo and materials to floating units and other marine locations. To carry out this job, the barge ship has to be positioned in aspecified area. Although thrust systems are installed on the ship, in general, the mooring winch system with cable is used. Therefore, thispaper proposes a single type mooring winch system and a method of designing a control system. We propose a mathematical model ofthe vessel winch control system, and the reliability of the control system is verified by numerical calculations and experiments. In addition,a cable model is constructed from the experimental data to identify the characteristic of cable motion, which is unknown in generaland considered as an uncertainty. Based on these results, a robust control system is designed, and its control performance evaluated bysimulation and experiment show that the proposed approach works well.