Heeling Control

System

The experiments are set up with experimental panels in the profile frame. The controlled system or control loop is controlled with the Profi-CASSY and the measured values of interest are recorded.

Learning objectives

• Recognising basic control principles
• Management and fault control
• Handling Analysis and Simulation Software

Function

Heeling refers to the rolling motion of ships in waves or during loading. Heeling is particularly noticeable when heavy goods trains run onto ferries. For rail vehicles, the approach to the ferry must be free of kinks in the tracks at the boundary between the ferry and the jetty. Such control problems - relating to position stabilisation - can be investigated using the heeling control model. The system can be operated with either the PID digital controller (734064N) or a WinFACT-based software controller. Position control using ballast tanks is also important for aircraft.

Method

The equipment is equally suitable for demonstrations and student experiments. Experimental procedures are carried out using an electronic manual and the measurement files for CASSY Lab 2 and WinFACT. Plug & Play applies: the experiments start automatically after the measurement file is called up.

Target groups

Vocational training in electrical engineering in trade and industry and students specialising in automation technology and mechatronics. The course offers both introductory courses at a basic level as well as challenging topics for bachelor's programmes.

Themes

• Heeling control
• Step responses of the controlled system
• CHR optimisation for guidance control
• Interference behaviour of the closed control loop
• Modelling and simulation
• Simulated heeling control path at the stability limit
• Simulated heeling controlled system with PT2 filter
• ZN optimisation of the heeling control system with PT2
• Continuous software controller
• Heeling control with three-point regulator