Heeling Control

E6.3.1.6

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

Similar figure

1	510 48 4	Magnets, 35 mm diam., pair
1	734 02 8	Reference variable generator
1	734 064N 8	PID digital controller net
1	734 091	Digital Controlled System
1	734 300	Heel Controlled System
1	524 016S2 8	Profi-CASSY Starter 2
1	775 690DE 4	LIT-print: Heeling control, German
1	775 690EN 4	LIT-print: Heeling control
1	775 690FR	LIT-print: Heeling control, French
1	726 09 4	Panel frame T130, two-level
1	726 86 4	Stabilised power supply unit ±15 V / 3 A
1	500 59 8	Safety bridging plugs, black, set of 10
1	500 592 8	Safety bridging plugs with tap, black, set of 10
3	500 641 8	** Safety experiment cable, 100 cm, red
3	500 642 4	Safety experiment cable, 100 cm, blue
3	500 644 8	Safety experiment cable, 100 cm, black
1	734 501 4	WINFACT LD Starter (one computer)
1	734 502 4	WINFACT LD Starter (site license)
1	309 42 4	Colouring, red, 10 g
1	726 10 4	* Panel frame T150, two-level
1	734 504	* WINFACT LD Edition (one computer)
1	734 505 4	WINFACT LD Edition (Site Licence)
1		additionally required: 1 PC with Windows 7 / 8.1 / 10 (x86 or x64)

Articles marked with ** are additionally required.

Articles marked with * are not essential, we do however recommend them to carry out the experiment.

Heeling Control

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