Design And Research For The Control System Of Hydraulic Winch Onboard Tugboat

Ocean is peered at as an important field of global petroleum exploitation in 21th. It is a new development stratagem to utilize more petroleum from ocean in china. All-purpose tugboat, as a important participator of ocean oil exploitation, whose main device hydraulic winch is manipulated manually, and does not monitor the work parameters of hydraulic winch, had hidden trouble of safety. Therefore, can make some improvement base in the originally control system, embed a load-control system, which has auto release and draw back cable function, hydraulic oil temperature self-regulation function, and over loading self-protect function, so as to enhance hydraulic winch security.First of all, analyse and study hydraulic winch's configuration and work principle, put forward the electro-hydraulic speed control system model. The hydraulic system is a nonlinear, large lag system, so select fuzzy control algorithm.The system adopts the structure of Upper Computer and lower Micro-Processor. The Upper Computer man-machine communicating interface is compiled by Visual Basic 6.0 software, where we can manipulate hydraulic winch, observe all parameters' value, and look over alarm logs, amend all parameters.The lower Microprocessor is a MCU(Micro Controller Unit), which collect parameters and display them, communicate with Upper Computer, and output control signals to hydraulic winch. The hardware of control system are divide into A/D conversion circuit, LCD display circuit , serial interface communication circuit and output control circuit, according to achieving function . Its software is compile in C language , software programme adopt modularization configuration, compiled base on hardware. And calculate fuzzy controller offline by means of Mamdani algorithm, and design fuzzy control programme.Design hydraulic winch fuzzy control system imitating model by MATLAB , experiment imitating model response to all kinds of input signals, then add disturbing signal, observe controller's anti-jamming capability. Imitating results indicate that fuzzy controller in the system has small static error ,without over-regulation, and stability is fine, good adaptability to kinds of intput signals, and satisfy system stability.