Development of control model for loading operations on heavy lift vessels based on inverse algorithm

Authors

DOI:

https://doi.org/10.15587/1729-4061.2020.214856

Keywords:

optimal control, PID controller, heavy lift cargo, inverse algorithm, loading modeling

Abstract

The aim of the work is to develop a method for optimal control of handling operations with heavy lift cargo on sea vessels. Based on the review of scientific research in the field of loading heavy lift cargo, priority directions for improving the automated control systems for cargo handling operations on ships have been determined. Within a scientific hypothesis, it was proposed to synchronize solutions to the problem of ship propulsion control and automated control of heavy lift onboard cranes in order to improve the accuracy of loading processes.

The paper analyzes the dynamic model of the “vessel-crane-cargo” system and the criteria of optimality in the problem of ship regulation-stabilization under minimization of loading time.

An inverse loading algorithm has been developed, based on the principles of the loading control optimization with limiting the choice of motion by linear displacements and turns of the vessel. When executing the inverse algorithm, restrictions associated with the minimization of heeling moments in the “vessel-crane-cargo” system and restrictions associated with the maximum and minimum boom outreach are applied. The study determined the technical feasibility of achieving invariance in the cargo stabilization system with the inverse loading algorithm on heavy lift vessels.

On the basis of the proposed method, simulation modeling of the ship loading process was carried out on simulators at the Kherson State Maritime Academy.

The simulation modeling has shown that the use of the inverse algorithm will reduce the time of cargo operations by 50–70 percent and, as a result, reduce the risk of emergencies when loading the ship. It was also determined that the use of the inverse algorithm is appropriate for cargo of more than 100 tons

Author Biographies

Oleksandr Solovey, Kherson State Maritime Academy Ushakova ave., 20, Kherson, Ukraine, 73000

Head of Department

Department of Organization of Practice, Certification and Employment

Andrii Ben, Kherson State Maritime Academy Ushakova ave., 20, Kherson, Ukraine, 73000

PhD, Associate Professor, Vice Rector for Research

Sergiy Dudchenko, Kherson State Maritime Academy Ushakova ave., 20, Kherson, Ukraine, 73000

Director, Senior Lecturer

Department of Ship Navigation

Kherson Maritime Specialised Training Centre

Pavlo Nosov, Kherson State Maritime Academy Ushakova ave., 20, Kherson, Ukraine, 73000

PhD, Associate Professor

Department of Navigation and Electronic Navigation Systems

References

  1. Jeon, J. W., Wang, Y., Yeo, G. T. (2016). Ship Safety Policy Recommendations for Korea: Application of System Dynamics. The Asian Journal of Shipping and Logistics, 32 (2), 73–79. doi: https://doi.org/10.1016/j.ajsl.2016.06.003
  2. Ölmez, H., Bayraktarkatal, E. (2016). Maximum Load Carrying Capacity Estimation of The Ship and Offshore Structures by Progressive Collapse Approach. Polish Maritime Research, 23 (3), 28–38. doi: https://doi.org/10.1515/pomr-2016-0029
  3. Volkov, Y. (2019). A study of decomposition of a group of ships for preliminary forecasting of dangerous approaching. Eastern-European Journal of Enterprise Technologies, 3 (3 (99)), 6–12. doi: https://doi.org/10.15587/1729-4061.2019.165684
  4. Noble Denton document 0027/ND - Guidelines for Marine Lifting Operations (2010). Available at: https://www.12hoist4u.com/index.php/page/getFileUID/uid/80fe84af54b12b41fe44e36c0a6e2a85/cr_usedb/25
  5. BBC Guideline. Safe solutions for project cargo operations (2009). Leer: BBC Chartering and Logistic GmbH&Co.KG, 76. Available at: https://www.libramar.net/news/bbc_guideline_safe_solutions_for_project_cargo_operations/2017-07-18-1815
  6. Code of Safe Practice for Cargo Securing and Stowing (2003). London. Available at: http://www.xiangstar-china.com/images/downlaod/IMO%202003%20EDITION%20CARGO%20STOWAGE%20AND%20SECURING.pdf
  7. Resolution MSC.75(69). Adoption of amendments to the code on intact stability for all types of ships covered by IMO instruments (resolution A.749(18)) (1998). Available at: https://www.navcen.uscg.gov/pdf/marcomms/imo/msc_resolutions/msc69-22a2-17.pdf
  8. Nosov, P., Zinchenko, S., Popovych, I. S., Safonov, M., Palamarchuk, I., Blakh, V. (2020). Decision support during the vessel control at the time of negative manifestation of human factor. Computer Modeling and Intelligent Systems (CMIS-2020). Zaporizhzhia, 12–26. Available at: http://ceur-ws.org/Vol-2608/paper2.pdf
  9. Popovych, I. S., Blynova, O. Ye., Aleksieieva, M. I., Nosov, P. S., Zavatska, N. Ye., Smyrnova, O. O. (2019). Research of the Relationship between the Social Expectations and Professional Training of Lyceum Students studying in the Field of Shipbuilding. Revista ESPACIOS, 40 (33). Available at: http://www.revistaespacios.com/a19v40n33/a19v40n33p21.pdf
  10. Popovych, I. S., Cherniavskyi, V. V., Dudchenko, S. V., Zinchenko, S. M., Nosov, P. S., Yevdokimova, O. O. et. al. (2020). Experimental Research of Effective “The Ship’s Captain and the Pilot” Interaction Formation by Means of Training Technologies. Revista ESPACIOS, 41 (11).
  11. Wang, L., Wu, Q., Liu, J., Li, S., Negenborn, R. R. (2019). Ship Motion Control Based on AMBPS-PID Algorithm. IEEE Access, 7, 183656–183671. doi: https://doi.org/10.1109/access.2019.2960098
  12. Qian, X. B., Yin, Y., Zhang, X. F., Li, Y. (2016). Influence of irregular disturbance of sea wave on ship motion. Jiaotong Yunshu Gongcheng Xuebao/Journal of Traffic and Transportation Engineering, 16 (3), 116–124.
  13. Qian, X., Yin, Y., Zhang, X., Sun, X. (2016). Application of model prediction control in ship Dynamic Positioning simulator. Xitong Fangzhen Xuebao/Journal of System Simulation, 28 (10), 2620–2625.
  14. Wang, L., Wu, Q., Liu, J., Li, S., Negenborn, R. (2019). State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships. Journal of Marine Science and Engineering, 7 (12), 438. doi: https://doi.org/10.3390/jmse7120438
  15. Solovey, O. S., Ben, A. P., Rozhkov, S. O. (2017). Selection of the control law in the positioning task of specialized sea freighters. Visnyk KhNTU, 1 (3 (62)), 221–227. Available at: http://www.irbis-nbuv.gov.ua/cgi-bin/irbis_nbuv/cgiirbis_64.exe?C21COM=2&I21DBN=UJRN&P21DBN=UJRN&IMAGE_FILE_DOWNLOAD=1&Image_file_name=PDF/Vkhdtu_2017_3(1)__38.pdf
  16. Tanaka, M. (2016). Advanced PID Control and Its Business Environment. IEEJ Transactions on Electronics, Information and Systems, 136 (5), 599–602. doi: https://doi.org/10.1541/ieejeiss.136.599
  17. Zhang, G., Huang, C., Zhang, X., Tian, B. (2018). Robust adaptive control for dynamic positioning ships in the presence of input constraints. Journal of Marine Science and Technology, 24 (4), 1172–1182. doi: https://doi.org/10.1007/s00773-018-0616-5
  18. Zeng, G.-Q., Chen, J., Chen, M.-R., Dai, Y.-X., Li, L.-M., Lu, K.-D., Zheng, C.-W. (2015). Design of multivariable PID controllers using real-coded population-based extremal optimization. Neurocomputing, 151, 1343–1353. doi: https://doi.org/10.1016/j.neucom.2014.10.060
  19. Park, J., Martin, R. A., Kelly, J. D., Hedengren, J. D. (2020). Benchmark temperature microcontroller for process dynamics and control. Computers & Chemical Engineering, 135, 106736. doi: https://doi.org/10.1016/j.compchemeng.2020.106736
  20. Dixon, A. (2019). Numerical methods for solving the “swing equation”. Modern Aspects of Power System Frequency Stability and Control, 135–189. doi: https://doi.org/10.1016/b978-0-12-816139-5.00007-2
  21. Chen, Y., Ahmadian, M. (2019). Countering the Destabilizing Effects of Shifted Loads through Pneumatic Suspension Design. SAE International Journal of Vehicle Dynamics, Stability, and NVH, 4 (1). doi: https://doi.org/10.4271/10-04-01-0001
  22. Sanz-Serna, J. M. (2016). Symplectic Runge-Kutta Schemes for Adjoint Equations, Automatic Differentiation, Optimal Control, and More. SIAM Review, 58 (1), 3–33. doi: https://doi.org/10.1137/151002769
  23. Zhao, N., Schofield, N., Niu, W. (2016). Energy Storage System for a Port Crane Hybrid Power-Train. IEEE Transactions on Transportation Electrification, 2 (4), 480–492. doi: https://doi.org/10.1109/tte.2016.2562360
  24. Wang, J.-S., Yang, G.-H. (2016). Data-Driven Output-Feedback Fault-Tolerant Compensation Control for Digital PID Control Systems With Unknown Dynamics. IEEE Transactions on Industrial Electronics, 63 (11), 7029–7039. doi: https://doi.org/10.1109/tie.2016.2585559
  25. Benosman, M. (2018). Model-based vs data-driven adaptive control: An overview. International Journal of Adaptive Control and Signal Processing, 32 (5), 753–776. doi: https://doi.org/10.1002/acs.2862
  26. ABB Vanessa. Available at: https://www.vesselfinder.com/ru/vessels/ABB-VANESSA-IMO-9437309-MMSI-351734000
  27. B&G Shipping Agencies (2016). Available at: http://www.bgshipping.com/general_cargo.php

Downloads

Published

2020-10-31

How to Cite

Solovey, O., Ben, A., Dudchenko, S., & Nosov, P. (2020). Development of control model for loading operations on heavy lift vessels based on inverse algorithm. Eastern-European Journal of Enterprise Technologies, 5(2 (107), 48–56. https://doi.org/10.15587/1729-4061.2020.214856