| The paper comes from one sub-subject of the major projects of national science and technology. Topside structure lifting system is researched. The hydraulic synchronous lifting technology is used for lifting the topside structure. Synchronous control precision of the cluster of lifting devices influences the success or failure of the lifting project. In order to improve the synchronous accuracy of each lifting point, the synchronous control of the hydraulic lifting devices is studied further.(1) The experiment of prototype model is carried out in the subject. Lifting speed and synchronous control precision is got from the experiment.(2) In this paper, using co-simulation method, the synchronous control method is studied. Using ADAMS, the virtual prototype of hydraulic lifting device is established. Using MATLAB/Simulink, the models of hydraulic system and control system are established. The experiment conditions are simulated by using co-simulation model of topside structure lifting system. By comparing simulation data with experiment data, the co-simulation model is proved to be proper.(3) In this paper, cross-coupling synchronous control method is used in topside structure lifting system. Master-slave method and cross-coupling synchronous control method are compared using theoretical calculation and simulated analysis. The analysis results indicate that, cross-coupling synchronous control method is much better. Through the analysis of the simulated results with different parameters, the design method of cross-coupling controller is summarized.(4) In order to study the effect of load on synchronous accuracy, the simulated experiments of topside structure lifting system are carried out. Finally, the relation curves between load and synchronous precision are got. The reference method to control the synchronous accuracy of topside structure lifting system is provided. |
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