| The rich ocean resources have attracted all the countries of the world to explore and develop,the exploitation and utilization of deep-sea resources requires the use of ultra deep floating drilling platform,the drill stem heave compensation system is one of the necessary devices to ensure the normal operation of the ultra deep floating drilling.The hydraulic winch drill stem heave compensation system has the advantages of no special compensator,unlimited compensation stroke,small ratio of drilling space,low power consumption and high compensation precision,the application prospect is good.The experimental research is one of the essential links to verify the theoretical study of winch type heave compensation system(WTHCS),the ultra deep floating drilling winch type heave compensation system is a large-scale ocean engineering system structure,because of the prototype structure test exists high cost,long period,many influencing factors and other issues,there are great difficulties in technology and material.Therefore,during the experimental research,the theoretical research results of winch heave compensation system is carried out by model test.This paper takes the hydraulic winch type heave compensation system as the research object,sets up winch type heave compensation model test bench(WTHCMTB)and carries out the relevant model test as the research goal,make the following research work:(1)According to the similarity principle,the model test bench plan and design index of winch type heave compensation are determined,the parameters design and equipment selection of each part of the test bench are completed,the problem of modeling and design in the three-dimensional software of winch type heave compensation model test bench is solved.(2)The system model of two variable direct drive pump control motor(DDPCM)power mechanism is built by AMESim,a detailed simulation model is established for the variable pump in the power mechanism,which verifies the accuracy of the currentdisplacement characteristic of the variable pump simulation model.The static characteristics,dynamic characteristics and reversing characteristics of the power mechanism are analyzed on the built power mechanism simulation model,and the accuracy of simulation models and parameters of the power mechanism is verified by the experiment.(3)The mathematical model of two variable direct drive pump control motor is established;The simulation model of two variable direct drive pump control motor speed control system is built by AMESim,with the aid of the joint simulation of Simulink,the variable speed,variable displacement and two variable control strategy are realized,using the method of simulation analysis and experimental verification,the influence of different control strategies on the response characteristics and follow-up characteristics of the direct drive pump control motor mechanism is analyzed.(4)According to the control principle of winch type heave compensation model test bench,the layout of test bench measurement and control system is completed,hardware system setup and interface design of the upper computer are completed.,the simulation model of winch type heave compensation model test bench is built,and the compensation characteristic is simulated and analyzed,and the compensation effect for winch type heave compensation simulation system with two variable control is verified through experiments.According to the full text,the paper determined the plan and design indexes of winch type heave compensation model test bench,The dynamic and static characteristics of the two variable direct drive pump control motor power mechanism are studied.To the problem of two variable control direct drive pump control motor speed control,a combination of simulation analysis and experimental verification is used to prove that the speed control performance of the pump control motor based on the feedforward PID two variable control strategy was the best,according to the compensation characteristics of the winch type heave compensation simulation system,the analysis and research are carried out from two aspects of simulation and experiment,the results show that the design plan for winch type heave compensation model test bench is reasonable,heave compensation function requirements can be achieved,and the expected compensationdesign index can be achieved. |
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