Constant Tension Control Of A&R Winch For Deep Sea Pipe-laying Ship Based On Adaptive Control Algorithm

At present,the world's marine resources utilization and development efforts continue to increase,The development of new machinery and equipment needed for the development of marine resources has attracted more and more attention,Which making the laying of submarine oil and gas pipeline technology and machinery and equipment research and development which also developed into the process of one of the main work of seabed mining resources,The current laying of submarine oil and gas pipelines mainly by the laying of ships to complete,laying vessel winch i.e.Abandonment & Recovery Winch,referred to as A&R winch,Which is an important part of pipe-laying equipment.The functions of the A&R winch can be summarized as discarding,receiving,emergency and towing.In order to avoid the damage of the oil and gas pipelines due to excessive bending stress during the operation,it is required that the oil and gas pipelines maintain a certain axial tension.Therefore,A&R winch to ensure that oil and gas pipelines,with constant axial tension and relatively stable speed retraction,of which the control system plays a very important role in the whole process.For the purpose of this paper,the A&R system of deep-water pipe laying ship is studied,the structure of the designed A&R winch in the form that the storage winch and traction winch are separated,among them,Traction winch with double drum traction,And to optimize the cable organization.Through the force analysis of the traction winch reel and cable,the mathematical model of cable tension under disturbance of wind current is established,the modeling and simulation of the jamming model is carried out using the simulation tool.The influence of the cable tension of the A&R winch on the external disturbance of the ocean is given..In this paper,A&R winch use the electric drive mode,the three-phase asynchronous motor AC speed control system is studied.Vector Transformation Model of Asynchronous AC Motor in Two-phase Rotating Coordinate System by Coordinate Transformation,by mean of analyzing the principle of vector control of three-phase asynchronous motor,A vector control model of A&R winch motor oriented by rotor flux linkage is built by using SIMLINK toolbox which realize stepless smooth regulation of the speed of A&R winch motor.And use this model to analyze the output torque control performance of winch motor to achieve constant tension control of A&R winch cable.According to the operation requirements of collecting and discarding pipe of the pipe-laying vessel,the fuzzy self-adaptive PID controller is designed,From the tension instantaneous value and the error of the set value of A&R winch cable to achieve PID parameter adaptive correction,compensation of the influence of oceanexternal disturbance on tension of winch cable is achieved by changing the winch speed so that the tension value of the A&R winch cable is stabilized within the safe operation requirement.Finally,using the MATLAB simulation tool,the operation model of pipe laying and pipe laying is established and simulated,The tension control system of the A&R winch cable designed in this paper is analyzed and validated.in order to avoid System life is reduced by the winch operation when the motor is higher frequency adjustment,a certain redundancy around the set reference value is left,That is,making A&R winch cable tension maintain within a certain range,and thus effectively avoid the cable and oil and gas pipeline damage occurred.