| With the development of economy and science and technology,human demand for resources is increasing day by day.90% of the energy used globally comes from fossil fuels,while the amount of land resources is limited,and it will gradually be unable to meet human production needs in the near future.71% of the earth's area is covered by the ocean.The seabed resources have become the focus of energy development all over the world.They are the important wealth of human sustainable development.Marine transportation has the advantages of large volume,low cost and suitable for longdistance bulk cargo transportation.Lifting equipment is indispensable not only for the exploitation of marine resources,but also for marine transportation.It is widely used on offshore platforms or ships,for the lifting of marine equipment at sea or for the loading and unloading of goods at ports.However,unlike on-land working conditions,due to the influence of sea waves,hoisting equipment and ships for offshore operations will fluctuate with the wind and waves,resulting in the extremely easy impact of cargo lifted on deck,and even damage cargo and cause casualties,resulting in huge economic losses.Therefore,how to compensate for the fluctuations caused by waves to ensure the stability and safety of cargo hoisting is of great significance to the development and utilization of marine resources.In this paper,taking the deep-sea hoist as the research object,a set of simulation test system is designed to study the compensation and control of the wave position interference of the deep-sea hoist.Firstly,on the basis of absorbing the experience and construction methods of domestic and foreign related test-bed,combined with research needs,this paper designs a test-bed with wave simulation and compensation lifting simulation function,and designs and chooses its hydraulic system and control system in detail.Secondly,aiming at the problem of wave motion simulation control,the kinematics analysis is carried out according to the structure of the test-bed,so that the system can complete independent control of their degrees of freedom.On this basis,the mathematical model of the hydraulic system of wave compensation device is established,and the system model is validated through the construction of simulation model,and the dynamic characteristics of the system are analyzed.Then,in order to improve the accuracy of wave compensation control and eliminate the external disturbance caused by waves,the back-stepping controller of the system is designed according to the established system model,and on this basis,the disturbance observer and parameter adaptive method are used to improve the controller.Two kinds of controllers are simulated to verify the control effect of the non-linear controller under the wave displacement compensation control system.Finally,the designed test-bed is built,and the control system software is designed in detail,and the designed wave compensation controller is verified by experiments.Finally,the tracking accuracy of the output signal is compared with that of the traditional controller,the back-stepping controller and the adaptive controller based on disturbance observer,so as to verify the effectiveness of the proposed wave compensation control strategy. |
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