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dc.contributor.authorSangvik, Harald
dc.date.accessioned2021-10-29T08:59:47Z
dc.date.available2021-10-29T08:59:47Z
dc.date.issued2021
dc.identifier.citationSangvik, H. (2021) Digital Twin of 3d Motion Compensated Gangway Use of Unity Game Engine and TwinCAT PLC Control for Hardware-in-the-Loop Simulation (Master's thesis). University of Agder, Grimstad.en_US
dc.identifier.urihttps://hdl.handle.net/11250/2826477
dc.descriptionMaster's thesis in Mechatronics (MAS500)en_US
dc.description.abstractThis thesis presents the development, implementation, and testing of a digital twin representing a 3D compensated gangway located on a service operation vessel for wind farms The real-time simulator runs on a separate thread in the Unity game engine and interfaces with a PC-based control system, including the control algorithms. The simulations in Unity achieve a step time of 5 μs, and the communication to the control system has a latency of 10ms.The PLC program in TwinCAT, running real-time on a separate computer, controls the hydraulic actuated gangway simulator with acceptable accuracy in 3m waves. Active damping employing pressure feedback to introduce artificial leakage was implemented to the hydraulic control system, increasing the hydraulic system’s damping, hence improving the motion performance.en_US
dc.language.isoengen_US
dc.publisherUniversity of Agderen_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.subjectMAS500en_US
dc.titleDigital Twin of 3d Motion Compensated Gangway Use of Unity Game Engine and TwinCAT PLC Control for Hardware-in-the-Loop Simulationen_US
dc.typeMaster thesisen_US
dc.rights.holder© 2021 Harald Sangviken_US
dc.subject.nsiVDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550::Teknisk kybernetikk: 553en_US
dc.source.pagenumber62en_US


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
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