Marine Winch Automatic Vent Line System Modeling And Simulation Study

Deep sea winch as key mechanical equipment in water support system, is the deep detection system of the telecontrol system, deep sea submersible drag, ocean pipeline laying, and sampling equipment and other heavy equipment is an important part of ocean, it is mainly used for underwater and operation of the equipment. Row is to make sure winch cable institutions to realize automatic orderly cable release, if the winch is put in charge when the cable line is bad, easy to appear uneven winding, rope, bite the rope phenomenon, can result in serious extrusion and friction between the cable and cable abnormal wear, and directly affects the service life of the rope and operation safety. Traditionally, in order to solve the problem of line of rope, usually adopt mechanical cable, but the mechanical exhaust for cable structure and driving mechanism is complex, and is subject to the restrictions of mechanical transmission mechanism, the row of the speed of the cable should not be too big. Based on the Marine winch cable institutions as the research object, no axial line control system for the theory of modeling, simulation analysis and the corresponding application practice.With the rapid progress of frequency conversion technology and servo control technology, the conventional mechanical transmission mode is gradually to the shaftless drive development, this topic based on the actual needs of the project, the high-power servo motor as executive power, through the study of mechanical servo cable system structure and control principle of combining the latest research results of no axis synchronous transmission, the establishment of a permanent magnet synchronous motor based on vector transform dynamic approximate linear equation, and based on the reference literature has established the servo drive current loop and speed loop, and based on the engineering experience of its parameter setting, translate the whole rigidity of transmission system on the screw pair, the establishment of a cable system dynamics mathematical model of mechanical transmission mechanism, based on the analysis of row of cable in the process of mechanical and electrical each link, on the basis of mathematical model, based on Simulink software set the row line computer simulation model of servo synchronization transmission system, the system dynamic response was analyzed and the related factors on the system response index, the influence of speed controller and the cable loop parameter setting and the simulation experiment was carried out, for practical system design and debug provides a certain reference value and theoretical basis.On the basis of the theory simulation, the cable the practical application of the controller.Marine winch cable system generally include PC monitoring system, embedded control system, servo driver, servo motor and mechanical transmission system.According to the work principle of the line cable data suggest that the actual motion state and the row of cable reel travel mechanism motion state have a one-to-one relationship, row line corresponding to the input of the control system for roll motion state of the given value mechanism velocity, the output for cable actual speed value of the traveling mechanism, the system adopts closed-loop control, the control unit USES STM32 and FPGA combining solution, considering the STM32 processor interrupt the interruption of short time delay, strong ability, and fault handling convenient as well as the advantages of the FPGA parallel computing, as the main processor based on mu C/OS- II real-time operating system, to ensure the cable system for communication between the individual tasks, the deployment of resources and high stability, and the FPGA as coprocessor, on the basis of its implementation implements data decoding, FIFO and module functions of acceleration and deceleration, STM32 + FPGA hardware scheme of the optimization of the structure of the implementation of the system, the high processing ability of FPGA controller guarantees the row line capacity characteristics of high speed, high precision, high real time capability.