| The heave compensation system can reduce the impact of hull heave motion on marine operations.In recent years,the marine engineering field has flourished,and the application of the heave compensation system has become increasingly widespread.According to the compensation device,it is divided into winch heave compensation system(WHCS)and cylinder heave compensation system(CHCS).The compensation range of the WHCS is wide,but the compensation accuracy is insufficient due to the inertia of the winch;the CHCS has high control precision,but the limitation of the cylinder stroke limits the compensation range.In order to design a set of heave compensation system for marine cranes with large stroke,high compensation accuracy and energy saving,based on macro-micro composite control,a system scheme of winch-cylinder combined heave compensation is proposed innovatively.The winch heave compensation subsystem is used for large-scale compensation,and the cylinder heave compensation subsystem is used to eliminate the error caused by the winch compensation.The winch heave compensation subsystem also has an energy recovery function for recovering the gravitational potential energy of the load.(1)According to the requirements of the helicopter crane heave compensation system and the macro-micro composite control theory,the scheme of the winch-cylinder heave compensation system is proposed,and the heave compensation subsystem and the cylinder heave compensation subsystem are determined.Determine the parameters and model of each hydraulic component.(2)Based on the dual feedback control strategy of macro-micro composite control,the overall control block diagram of the winch-cylinder heave compensation system is determined.The controllers of the winch heave compensation system and the hydraulic cylinder heave compensation system are designed in detail.(3)Established a simulation model of the winch system;The simulation model of the load-sensitive pump was built by HCD library and the simulation analysis was carried out.The correctness of the load-sensitive pump simulation model was verified by comparison with the product diagram.The simulation model of the valve-controlled cylinder system using load-sensitive pump was established.The model of PID and fuzzy PID control algorithm was established by Simulink,and the simulation model of valve-controlled cylinder established by AMESim was simulated.The simulation model of the whole winch-cylinder heave compensation system was established.The simulation model of the combined heave compensation system with the throttle valve was built.The simulation model of the hydraulic cylinder type heave compensation system using the fixed pump was established.(4)Simulation analysis is carried out by using the simulation model of the built winch-cylinder heave compensation system.The control effect of winch compensation is analyzed.The influence of different winch moment of inertia on compensation accuracy is analyzed.The simulation results of the winch combined heave compensation system with throttle valve are analyzed,and the energy consumption of three different winch compensation systems is compared.The control effect of the cylinder heave compensation subsystem is analyzed,and the energy consumption of the two cylinder heave compensation systems using the load variable pump and the fixed pump is compared.The control effect of the winch-cylinder heave compensation system is analyzed.The final compensation accuracy is 98.3%,and the energy recovery efficiency is 77%,which meets the design requirements. |
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