Experimental approach for mooring winch control system design

In the barge ship, the mooring winch system with the cable is used to keep its position in the specified area. In this paper, we consider a single type mooring winch system and control system design problem. For this, we separate the controlled system as two parts except the vessel. The one is the winch drum part without cable and the other is the cable part. Where it is considered that the winch dynamics are known, because it can be easily calculated. However the cable dynamics are too complicate and difficult to obtain them directly such that it is considered as uncertainty. Using known winch dynamics, a cable model which is unknown in general can be easily extracted from experiment data in which the characteristics of cable and winch motion are mixed. Based on these results, we design a robust control system, and control performance is evaluated by simulation.