Real Time Optimization by Extremum Seeking Control
Real Time Optimization by Extremum Seeking Control
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Cargo transfer between two vessels at sea requires the ramp connection between the vessels to be as stable as possible. The complex nature of the system makes employing control methods difficult. This paper presents the results of several techniques aimed to exploit dynamics of the system to reduce the relative movement of the adjoining ramp and the two vessels. The methods include extremum seeking designed to optimize wave heading angle and ramp length, fin control to alter vessel heave to reduce pitch, and passive techniques that investigate the effectiveness of spring-damper systems at the joints of the ramp. We implement these methods on a SimMechanics model created to simulate the vessels in sea state four. We compare the simulation results from the SimMechanics model to the solutions of the equations of motion we derive using Lagrangian mechanics that show continuity in the results. The results of the simulations with control algorithms implemented show the successful reduction of the pitch angle in the ramp. We provide the results of these simulations as well as a detailed account of how each aspect of the system was modeled.