Optimal control of the vessel motion process at the broadside slip

Abstract

The main purpose during the mechanized launching or lifting of a vessel using broadside slip is the uniform velocity motion providing of the object (vessel with launching trolleys) and the guaranteed prevention of emergencies. Aim: The aim of this work is the formulation and optimal control solution of a slip type vessel-lifting complex for providing the uniform velocity, coordinated, gradual relocation of the large vessels. Materials and Methods: The paper studies the matters of real-time control optimization of vessel-lifting complex during launching or lifting the vessel. Results: It is proposed to control the relocation of large object by funicular forces matching of the steel wire ropes of different motorized drives with account of current situation. The model in state space is obtained. This model describes the vessel relocation during the launching/lifting process. The optimal control solution of motorized multidrive system with goal functional is formulated. This solution allows minimizing the divergence of movement parameter values from given ones. It is substantiated the advisability of the use of adaptive control methods with observer to provide the corresponding reliability of vessel-lifting complex functioning.