Modelling, simulation, and testing of an active heave compensation winch

Abstract

Modelling and simulation play an important role in modern engineering. This is partly because simulation generally is less expensive, safer and more time efficient compared to experimental testing and prototyping. There are a variety of modelling and simulation tools on the market today. This report concerns the development of a dynamic simulation model for an active heave compensation winch system, using the software tool 20-sim. The model is developed in cooperation with the company Cargotec that is a world leading company within manufacturing of large offshore load handling equipment. The winch system has been analyzed and a dynamic simulation model has been developed. To optimize and confirm the validity of the model, experimental testing was performed by the support of Cargotec. The optimization was based on several test runs using varying input parameters. Model parameters were estimated by comparing simulated and experimental data. Simulation results indicate that the proposed model is in accordance with the experimental results. The motion controller used in this work consist of a feedforward control and a feedback controller. Three different feedforward strategies were evaluated and tested on the winch system. One feedforward which was explored is the model-based prediction of input. A model-based feedforward dependent on pressure measurements was successfully implemented. Based on the quality of the developed simulation model it is concluded that it can be used to study system behavior under different operating conditions. In addition, it can be used to analyze and design controllers for the system.