Heeling Control

System

The experiments are set up with experiment plates in profile frames. The controlled system or control circuit are activated with the Profi-CASSY and the relevant measurement values recorded.

Educational objectives

• Get familiar with the basic principles of controllers
• Setpoint and disturbance control
• Handle analysis and simulation software

Function
Heeling is the rolling movement of a ship on a swell or during loading. Heeling is especially noticeable when freight trains are driven onto ferries. For rail vehicles, the railway leading onto the ferry should be free of breaks in the rails where the ferry and pier meet. Controlling problems of this nature - involving position stabilisation - can be investigated with the heeling control model. The system can be equally well operated with the PID digital controller (734 064) or a software controller on a WinFACt basis. Position controlling using ballast tanks is also important for aircraft.

Method
The equipment is ideal for demonstration and students' experiments. The tests were carried out with an electronic manual and the data files for CASSY Lab 2 and WinFACT. It is true Plug & Play: The measurement starts automatically after loading the data file.

Target groups
Students completing vocational training in electrical engineering the industry and students of automation engineering and mechatronics are the target group. The course offers introductory experiments that are very simple and also addresses difficult topics for bachelor-level studies.

Topics

• Heeling control
• Step responses of the controlled system
• CHR optimisation for setpoint controlling
• Disturbance behaviour of the closed control circuit
• Model formation and simulation
• Simulated heeling control system at the limit for stability
• Simulated heeling control system with PT2 filter
• ZN optimisation of the heeling control system with PT2
• Constant software controller
• Heeling control with three-point controller

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