My suspicion would be the water pump re-establishing the pressure in the water system, either as a result of the how water tank cooling a little, or the whole pipe work generally relaxing a little and needing to be stretched a little when the power is restored.
Just a quick simple test would be: after entering the caravan and turning the power on:- you get the noise. wait 30 seconds or so then turn the power off again, and wait about 30 seconds, and then turn the power on again. My suspicion is that if it is the pump then the second time you turn the power on you should NOT get the noise.
If you do get the noise then sorry, it's either a leaky valve somewhere (Could be the non return valve in the water supply), or its not the pump.