The Research Of The Electronic-hydraulic Controlling Method Of Salvage Equipment System At Abominable Sea Condition

The research of this paper is based on the project of the Fishery Mechanical Facility Research Institute: "Salvage Equipment System at Abominable Sea Condition". It designs the lengthways anti-rolling compensative set of gantry swing crane for ship.Firstly, it contrasts the improved salvage equipment system at abominable sea condition with the former one, analyzes its hydraulic and electric system. Secondly, designs two kinds of improved plans of the lengthways anti-rolling compensative set. They both use electro-hydraulic proportional direction valve to control the movement of piston rods of the hydraulic cylinders, so that the hoisting load can be kept horizontal. And calculates the controlled object's equations, explains its controlling theory, contrasts the strong points and weak points of the two plans. Thirdly, analyses the forces on the anti-rolling set of the gantry swing crane, finds out the serious condition, therefore works out the size of the cylinder, chooses appropriate proportional direction valve and angle sensor, and calculates on the hydraulic system. Finally makes mathematic modeling on the hydraulic system, works out appropriate PID controller to improve its performance, and simulate on it using MATLAB, therefore validates its correctness and feasibility.