| The tensioner system is a key attachment of pipe laying barge. Its dynamic behavior directly influences the offshore pipe laying operations. So far, there are two types of tensioning equipment used in pipe laying barge: one is the electric driven tensioning system and the other is hydraulic driven tensioning system, each has its advantage, and both of them have been maturely applied in all kinds of pipe laying barges.Recently some research on hydraulic driven tensioning equipment has been made in China, while the study about the electric driven tensioner is rare. This thesis presents the dynamic modeling of electric driven tensioner using power bond graph and Matlab/Simulink technology considering the bitter operation environment of tensioner. The research includes the following contents:The system design of tensioner, which includes system structure, principle of operation, and function of its electric driven system, is discussed deeply.Based on the investigation of characteristic of the subsystems in tensioner system, the dynamic mathematic models of motor, speed synthesizer, reducer and track are developed using power bond graph. Then, according to the coupled relationship of all subsystems, the dynamic mathematic model of tensioner is given.According to the dynamic mathematic models of the subsystems, the Simulink models of the subsystems are developed. Furthermore, the Simulink model of the complete tensioner system is obtained.Then the dynamic behavior with and without disturbance is discussed separately. The aquired simulation results show the feasibility and validity of the tensioner system model.In summery, this thesis succefully realises the complete dynamic modeling and simulation research of electric driven tensioner system.All study results not only play an important theory-instructing role in development, design and optimization of tensioner system, but also have a good future to be applied in practice.
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