Research On Structure Design And Driving Cooperative Control Of Deep Sea Ten Thousand Meter Winch

With the lack of land resources,countries set off a rush to find new resources,and the sea has become a new field for people to explore.The deep sea field contains a variety of rich resources,but the traditional marine winch can not meet the depth requirements for deep-sea equipment.Because of the influence of the bad environment in deep sea,it is easy to appear the phenomenon of the cable taking off and losing the underwater equipment.It is of practical significance to design a kind of marine winch which has complete functions and can work in the deep sea environment.In order to solve the problem that the winch is difficult to operate under the complex working conditions in the deep sea field,the design and key subsystems of the deep sea ten thousand meters winch system are studied in this paper.Firstly,according to the characteristics of the deep sea ten thousand meters winch and the characteristics of the large capacity of the cable,the deep sea ten thousand meters winch adopts the double winch structure which separates the traction and the storage cable function,and through the force analysis of the traction winch to verify its tension reduction function.Active heave compensation system is used to prevent the influence of the hoist mother ship's heave movement on the cable tension.The hydraulic schematic diagram of wave compensation is designed and the feasibility of the compensation device is illustrated from two situations of retracting and retracting the cable.Determine the tension control of the cable storage system and the tracking and synchronous cable discharge control scheme of the cable discharge device.Secondly,the finite element analysis of the structural performance of the storage cable winch is carried out by using ANSYS software,and the rigidity and strength of the winch structure are analyzed according to the stress,displacement cloud diagram and the first six mode mode mode diagram.Finally,aiming at the problem of poor stability and control precision when a single motor drives the deep-sea ten thousand meter winch,four motors are used to drive the winch design.The decoupling model of the four asynchronous motors of the winch is established by using the vector control theory of asynchronous motors.The synergy of the multiple-motor drive system of the winch is studied based on the deviation coupling control strategy,so as to solve the problems of strong motor coupling and poor synchronicity.The multiple-motor drive system model of the winch was established on Matlab/Simulink platform to simulate the stable working state of the winch system and the situation under load impact.The simulation results are analyzed to verify the feasibility of cooperative control strategy for improving the synergy of winch drive.