| As the influences of wind, waves, current, tides and others, an surface work ship which is used for installation in the deepwater will inevitably heave.For keeping the installation is effective, we should outfit the relevant equipments to compensate the heave motion of the work ship at the same time. Based on the traits of underwater suspended installation task, the work principle of the heave compensation system and the hardware structures, the parameters, and the response of dynamics are also considered in this thesis.A kind of scheme concerning the heave compensation system which is suit for installation in the deepwater is proposed.A deepwater installation ship is the object and the academic calculational methods about the heave motion of the ship in the time domain and the frequency domain are researched, and then the calculational results with the given conditions and parameters are showed. The dynamics model is established between the ship and the suspended load, and the emulational results are analyzed to seek the main factors which affect the dynamics response of the suspended load.The work principles and the work traits of the passive and the active heave compensation system are compared, and the dynamics equations of the heave compensation system are also built.Both the emulational dynamics responses of the system and the results of the compensation effects with the different powers are analyzed, and then the best power with the given conditions is confirmed.For the purpose of researching the capability of the system, the mathematical models of the main hydraulic components are showed, and the carrying capacity of the cylinder and the accumulator and others, the initial state and other parameters are investigated. The standardized design of the components is completed according to the corresponding criterions, and the performance of the hydraulic system at the different work stages are tested and verified.As with the PID control method, both the control principle and the Control flow chart of PID are described.The selection steps of PID control parameters are identified, and the model of Heave compensation control system is created. Based on the loads and stresses, the control simulation results which are under different control targets are optimized by adjust the parameters.A heave compensation system structure is installed, and the models of the overall system hardware components are built. The dimensions of the main components are identified, and the system is put into a modular package.Considering the results of the system components, the typical performance indicators of the heave compensation system are proposed, and the overall designed scheme of the heave compensation system used for deepwater installation is completed. |
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