The Method Research On Active Heave Compensated Control In Marine Shipboard Electric Drive Winch

With rapid growth of population, increasing scarcity of land resources and deteriorating of environment, the world focuses on the ocean that riches in mineral resources. It needs special marine engineering equipment to complete marine resources exploration and development in the deep-sea. The marine shipboard winch with active heave compensation is a key deck machinery equipment, which can achieve the retractable of the precise precious marine resources exploration and development equipment, but winch equipment in our country is dependent on imports, therefore, it is necessary to carry out the research on electric marine winch active heave compensation mechanism and control technology. It can promote development capability and technological level in our country marine equipment. The specific studies are as follows:Firstly, the overview of domestic and international situation and trend about the active heave compensated technology winch is introduced, the marine shipboard winch drived by AC variable frequency is researched, the marine shipboard electric drive winch overall structure and working principle are explored, the marine shipboard electric drive winch active heave compensation principle is analyzed. For overcoming the compensation system with large lag, disturbance random, this paper proposes a advanced prediction and "feedforward- feedback" hybrid control strategy.Secondly, the marine shipboard electric drive winch launch and recovery process factors problem is researched, the research on its modeling and simulation analysis are carried out, the transfer function of electric driven winch control system is established,the influences of the parameters on load movement in the launch and recovery process had in depth analyzed, such as the recovery cable length, load weight, cable diameter.The simulation results show that the changes of the recovery cable length, load weight and cable diameter will affect load motion displacement amplitude and shock period in the launch and recovery process, it provides a theoretical basis to achieve active heave compensated control in marine shipboard electric drive winch.Thirdly, the time serie s analysis technology is use d, the mothe r sh ip heave motion prediction model is established, the advanced prediction and "feedforward-feedback" hybrid control strategy is used, the marine shipboard electric drive winch active heave-compensated prediction PID control system simulink simulation model is established, the simulation results of the PID control and predictive simulation PID compound control are compared, the effectiveness of active heave compensation control electric winch on predictive PID compound control is proved, the influences of the parameters on load movement in the launch and recovery process had in depth analyses, such as the recovery cable length, load weight, cable diameter.Finally, the experimental scheme of marine shipboard electric drive active heave compensated winch control system is analyzed, the marine winch active compensation control system experimental platform design on the basis of PLC, frequency conversion technology, servo drive technology is completed, the configuration software to develop Marine winch active compensation control system monitoring software is used.