UBC Theses and Dissertations

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UBC Theses and Dissertations

A programmable oceanographic winch controller Chaddock, Kenneth M.

Abstract

A position servo controller for an oceanographic winch is designed, implemented and tested. Depth, speed and acceleration of a payload are made programmable. Cable position and speed feedbacks are implemented to control the depth of the payload. Provision is made to compensate for the wave-induced motions of the ship deck. For this purpose, the instantaneous vertical deck position is determined using three orthogonal accelerometers fixed to the deck. Tests of the position servo system are successful, but limited by constraints of the hydraulic system used. Compensation for rapid deck motions is possible; however, compensation for slow deck motions causes noticeable drifts in the payload depth due to integrating small errors in the acceleration signal.

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