| Heave compensation system is an essential system of the floating operating system, which is used to isolate the impact of underwater equipment from the movement of surfacefacilities caused by storm water. It is reasonably meaningful to investigate the simple passive compensation system with no power consumption and the simple semi-active control system which can instantly adjust the structural parameters according to the response of the structure and the feedback from external excitation, effectively reduces the vibration response of the structure, needs small energy.A heave compensation system combined action of vibration absorber and accumulator is proposed in the light of 5000m deep sea poly-metallic mining system of China. The study methods which include mathematical simulation and MATLAB simulation and modeling are comprehensively used, selecting parameters of the system, researching the compensation performance of the passive system, improving the system to become semi-active control system,and simulating compensation effect of the Hoo control system and robust performance.The main results and conclusions are as following:1.According to the work condition of heave compensation, the response of mining vessel is obtained under effect of the simple harmonic wave.A heave compensation system combined action of vibration absorber and accumulator is presented, working principles and characteristics of which are analyzed.2.Mathematical model of this heave compensation system is built, a group optimum parameters of this system are selected, compensation effect of the system is researched, the results indicate that the passive heave compensation system combined action of vibration absorber and accumulator can make better compensation effect under grade four ocean condition in Chinese mine.3.When cycle was 5.8 seconds,the compensation efficiency is enhanced from 60% to more than 70% with changing elastic stiffness and damping coefficient of the vibration Absorber System.Hence,the semi-active control heave compensation system combined action of vibration absorber and accumulator is presented,which has MR damper actuator.The relationship curve between damper damping force and current is obtained,based on analysing magnetorheological fluid flow mechanism and mechanical properties, working mechanism and mode of MR damper, calculation of damping force, experimental study of MR damper performance.Mathematical model of this semi-active control heave compensation system is built.4.A Hoo Robust controller is designed for the semi-active control heave compensation system by application of robust loop shaping control. In the design process, the performance and robustness requirements of the system are considered.The digital simulation of control effects is carried. The results show that it improve acceleration and speed response performance of the system in wave energy concentrated frequency domain in Chinese mining by a concentration-weighted output feedback control for acceleration and speed.Also show that this controller is effective in assurance the robust stability of the uncertain system model. |
PDF Full Text Request