Research On Hydraulic Control System Of Large Offshore Trestle

Large-scale Marine trestle is a kind of new Marine equipment technology which can be applied to complex and changeable offshore working environment and realize the safe and efficient transfer of offshore workers.Work,pier end does not need to be on a ship or platform.and ship with the wind and the waves in the transverse oscillation.surge and heave direction displacement can compensate by active wave compensation system,large Marine pier by MRU detection device is measured after the actual movement of the ship,by controlling the hydraulic control system to produce a and measured the actual movement of the opposite movement for wave compensation.ultimately achieve pier end relative to the ideal target for the purpose of stillness.It is mainly reflected in the rotation around the rotary device,the rotation around the pitching device and the translation movement of the telescopic device,so that the end position of the Marine trestle is static relative to the offshore platform,so as to realize the smooth and safe transfer between the Marine trestle and the offshore building.Firstly,this paper introduces the research background and practical applicationvalue of large offshore trestle.The research status and development trend of sea transfer equipment at home and abroad,the research status,classification and application of wave compensation equipment are introduced.After consulting the data,it is found that the Marine trestle with advanced wave compensation technology has been monopolized by foreign countries,and the domestic research in this field is in the backward stage,the technology is not mature,and there is a big gap with foreign countries.Therefore,by exploring and summarizing the previous work in this field,and on this basis,I carry out my own scientific research work.Second,the kinematics modeling analysis is carried out for the large Marinetrestle.D-H parameter method is used to solve the forward and inverse kinematics of Marine trestle,and Monte Carlo method is used for modeling and simulation in MATLAB to get the working space at the end of Marine trestle.Thirdly,an active wave compensation control algorithm is established to compensate the displacement motion of the end-effector on the 3-DOF trestle.The motion compensation of Marine trestle on three degrees of freedom is obtained by this algorithm.Fourthly,the mechanism of ship movement with waves is obtained by analyzing waves.The electro-hydraulic level shift servo system of valve controlled cylinder and electro-hydraulic speed servo system of valve controlled motor were modeled mathematically,and verified by Simulink simulation platform.The performance indexes of the system were optimized by analyzing the simulation dataFifth,choose the traditional PID control as the basis,and into the fuzzy adaptive control,real-time adjustment of control parameters,so that the control is more stable,more adaptable.Finally,the control precision.response speed and anti-interference ability of the fuzzy adaptive PID control strategy designed in this paper are verified by the co-simulation method of AMESim and MATLAB/SimulinkFinally,this paper summarizes the work and prospects the research direction.In this paper,theoretical analysis,simulation and other methods are used to explore the work space of large offshore trestle and the main parameters and control loop of the hydraulic control system.The control strategy with high control accuracy,good stability and fast response is designed.The feasibility of this scheme is confirmed by the simulation platform.