Research On Active Wave Compensation Crane Control System

Marine engineering is huge technical equipment, which is strongly support by thenational country. The rapid and sound development of the national economy will become anew growth point in China; in order to make sure offshore operation smoothly and safety,this paper main research the active heave compensation crane which can make up theinfluence caused the relative motion between supplying and supplied ships by the oceanwind, wave and flow. The research not only has tremendous economic value but also has animportant social significance.Firstly, this paper introduces the research background of wave compensation controlsystem at home and abroad, analysis the advantages and disadvantages of the active andpassive wave compensation system, ensure the active comprehensive compensation deviceof crane as the research object of this paper, the basic principle of active wave compensationis introduced, the wave compensation mechanism is designed, the prediction of shipattitude movement is analyzed; time series analysis method is used to realize feed forwardcontrol. The hydraulic drive system is designed, load sensitive control technology is used,the wave compensation crane hydraulic system is designed, realized the speed control andtension control, crane cable tension calculation method is given.Research and establish mathematical model of the wave compensation machine ofhydraulic system, transfer function of control valve hydraulic cylinder is given, hydrauliccylinder position control and crane cable tension control are used the pseudo differentialPDF control algorithm, the solution of saturated in engineering application is analyzed andit can resolved through the anti-integral saturation method, the Simulink simulation showsthe system uses PDF control has better advantages and meet the requirements of wavecompensation performance.Finally, simulation wave compensation crane control system test platform is built, PLCand PC monitoring interface was designed through programming software. At last the resultshows the pseudo differential PDF control algorithm of wave compensation crane controlsystem has a good stability and fast response and achieve wave compensation crane controlaccuracy requirement.