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

Oleksandr Solovey,Sergiy Dudchenko,Andrii Ben,Pavlo Nosov

doi:10.15587/1729-4061.2020.214856

Oleksandr Solovey, Sergiy Dudchenko + Show 2 more

Open Access

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

Copy DOI

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

Highlights

Modern information technologies in maritime transport undergo a number of innovative transformations due to the constantly expanding production and logistics
Experience demonstrates that the most dangerous situations during the operation of Heavy Lift vessels are the immediate loading-unloading of oversized cargo on the vessel and the control of its maneuvering process [3]
The inverse algorithm of loading was considered (Fig. 6) where the movements are performed with a fixed-in-space cargo

Summary

Introduction

Modern information technologies in maritime transport undergo a number of innovative transformations due to the constantly expanding production and logistics. The crisis of 2020, caused by the SARSCoV-2 pandemic and fall of the world’s marine economy greatly motivates scientists to develop the most appropriate information tools for the safe and efficient loading of vessels. To solve the current situation and level the possible risks, shipping companies are increasingly using specialized heavy lift vessels. This circumstance is caused, on the one hand, by cost estimates due to the transportation of oversized cargo, and, on the other hand, by the possibility of using high-capacity onboard cranes [2]. Experience demonstrates that the most dangerous situations during the operation of Heavy Lift vessels are the immediate loading-unloading of oversized cargo on the vessel and the control of its maneuvering process [3]

Objectives

Results

Conclusion