| In recent years, energy has become more and more severe in worldwide, the offshorewind energy has been become one of the research topic. The offshore wind energy isrecognized as a renewable energy source, it has been developed rapidly in Europe, andChina’s offshore wind power is going to enter readily into the research and development stage.Various engineering ship of offshore wind power construction is taken into account, thejack-up installation vessel has been widely used as the characteristics of self-elevating andself-propelled and little affection by the marine environment. The leg lift system, the lockingsystems, the work environment load, dynamics, the asymmetric hydraulic cylinder controlsystem of locking systems, the hydraulic motors synchronization of the jack-up installationvessel were taken as the main key technologies, these key technologies were respectivelystudied in this paper.Both the rack-pinion lifting system of truss leg and the hydraulic locking system of rackwedge were designed in the jack-up offshore wind power installation, the gear lifting systeminclude the power source, the secondary gear reducer, the transmission system composed by2-type planetary gear reducer and pinion with heavy overloaded. The strength and contactproperties of the lifting pinion as low speed and heavy load transmission directly affect thereliability of the installation vessel, the four kinds of contact finite element analysis werecarried out in both normal and emergency conditions, the structure of pinion was optimized,five kinds of measures were obtained to improve the performance of rack and pinion meshing.The static model and the environmental load model of truss leg were establish, accordingto operating environment and technology parameters of the jack-up installation vessel, thewave load model of truss leg was established at vertical and any inclination angle based onthe linear AIRY wave theory, the analysis and simulation of wave loads were conducted fromthe perspective of time-domain, the main features parameters of wave load effecting on thetruss load was studied, the necessary theoretical basis for the design of truss lifting system isprovided.According to the dynamics basic equation, the dynamic response of truss leg of theinstallation vessel was analyzed under storm flow coupling loads in standing state. The truss leg’s modal shapes and the vibration mode of the installation vessels were analyzed, it isreasonable to guarantee the truss leg’s stiffness of installation vessels, the resonance can beavoided under the coupling load. The spectrum analysis method is adopted to analyze thedynamic response under the coupling loads, the reasonableness of the structural design isverified.In the hydraulic locking system of truss leg, as the open-loop gain and the parameters ofvalve controlled asymmetric hydraulic cylinder are different in both directions, the dynamicnature may be asymmetry in both directions, it is difficult to symmetrical control as the naturenonlinear of the hydraulic lock system. The state observer was adopted to estimate theinterferences, and then the feed-forward loop were adopt to resist the influence, the stiffnessand the robustness of hydraulic system could be improved, because traditional PID controlstrongly depend on the model and are difficult to online adjust parameter, the variableuniverse fuzzy PID control is put forward, this control method is in accordance with thecontrol features of hydraulic cylinder locking system, the performance of the system motioncan be significantly improved, the valve controlled asymmetric hydraulic cylinder system hasgood dynamic and static performance.In the drive control of the leg, synchronization control at the multiple hydraulic motors isone of the key technologies problems on the leg’s motion control. In its control, the tuningsliding mode controller based on fuzzy switching gain is adopted to control a hydraulic motor,in order to overcome the parameter uncertainty and the external disturbances, this algorithmstructure can ensure a more stable tracking when structure uncertainty. The the tuning slidingmode controller based on fuzzy switching gain was introduced into the cross-coupling control,the two adjacent motors are only considered in cross-coupling control, the decoupling controlalgorithm only reflects the motion information of the two adjacent motors instead of allmotors, it is helpful to design the decoupling controller control law, both the position errorand the synchronization error of the multiple hydraulic motors can be tended to zero rapidly,the decoupling control can make the output of all the motors to synchronize quickly. |
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