Control Ways And Virtual Prototype Study Of The 1000m Sea Bed Mining Trial's Heave Compensated System

With the decrease of mineral resources on land, the trend of exploiting them of international deep sea bed is beginning. In order to protect our country's rights and interests to exploit them, we must develop deep ocean technology actively. Heave compensation is one of the critical technology of deep sea bed mining system, and is decided by the intricacy deep sea circumstance. The circumstance is so intricacy that we can't test heave compensated technology just like we do on land. The virtual prototyping model of heave compensated system provides more comprehensive and precise project for its design, produce and application in sea trial. Study on the control ways of 1000m sea bed mining trial's heave compensated system can offer control theory base and references. The major contents of this dissertation as following:1. According 1000m sea trial system's elementary design project, I have analyzed the working theory and parameters of heave compensated system. And also have predigested the motions and dynamics of the ship.2. Constructed the simple math and dynamic model of heave compensated system.3. According the simple active vibration isolation system model, using different control ways, designed a lot of control systems.4. Constructed compensated subsystem's virtual prototype, andsimulated subsystem's working process in kinematics and dynamic ways, analyzed some parameters.5. Compared study on a set of active vibration isolation system in lab and virtual prototype ways.