Research On Active Heave Compensation Control Strategy Of Marine Winch Driven By Switched Reluctance Motor

Marine winch is an important retracting equipment for marine scientific investigation and exploration and development of marine resources,and active heave compensation is the key function to ensure that the marine winch can maintain normal operation at sea when it makes violent heave motion with the mother ship.In view of the problem that the active heave compensation marine winch is driven by AC frequency conversion electric drive,which leads to its unsustainable use,the active heave compensation control mode driven by switched reluctance motor is proposed.Aiming at the problem that the compensation control accuracy of active heave compensation marine winch still needs to be improved,the corresponding control methods are studied from two aspects: time-varying given speed real-time compensation and high-performance speed control of the driving switched reluctance motor corresponding to the mother ship's heave motion.Finally,the simulation and experimental verification are carried out.The main contents of this paper include:1?The research situation of active heave compensation marine winch power drive system is briefly introduced.In view of the shortcomings of AC frequency conversion electric drive active heave compensation marine winch,such as high starting current,low efficiency and high energy consumption,the power drive mode of applying switched reluctance motor to marine winch power drive system is put forward.The research status of switched reluctance motor and its speed control strategy are summarized.The research situation and existing shortcomings of active heave compensation control of marine winch at home and abroad are expounded.Finally,the overall structure and research work of this paper are explained.2?This paper introduces the basic structure and working principle of switched reluctance motor speed regulation system,expounds the mathematical model and basic modeling method of switched reluctance motor,and briefly introduces the common control methods of switched reluctance motor.3?In order to solve the problem that the compensation effect is not good because it is difficult to accurately obtain the time-varying given speed of the electric drive system in the active heave compensation control of offshore winch,a real-time compensation method for the time-varying given speed is proposed.The basic principle of this time-varying given speed compensation method is expounded,and the concrete design method of real-time compensation for this time-varying given speed is studied.The corresponding speed compensation control system is constructed with switched reluctance motor as driving motor,and the effect of the proposed speed compensation method is verified.4?According to the high-precision synchronous control requirements of active heave compensation of offshore winch,a high-precision speed control strategy based on asymptotic steady-state error control is proposed for switched reluctance motor.This paper introduces the basic principle of asymptotic steady-state error control method,studies the concrete realization of this control method and the optimal design method of its control parameters,and verifies its effect by simulation.5?With TMS320F28335 DSP as the system controller,the corresponding experimental system is constructed,and the corresponding hardware circuit and control software are designed.The above theoretical analysis is verified by experiments.