Research On Hydraulic Control System Of Floating Platform Heave Compensation Device

The floating support is provided with the characteristics of large installation tonnage,complete land construction,small connection and debugging amount,and the like,has wide application,but is limited by the high requirements of the floating support installation environment,and the installation time window is narrow.In that background,a heave compensation device is built between the floating tug and the module to be instal at the upper part,and the motion of the upper part to be mounted is compensated by the expansion of the hydraulic cylinder of the active control device.The aim of this paper is to improve the accuracy of the hydraulic control system of the heave compensation device and to ensure the stability of the upper platform.The contents of this paper are as follows:According to the working environment of the heave compensation platform,the movement state of the ship under the action of the waves during the installation of the floating tugboat is analyzed.Considering that the floating tugboat is moored in the designated area when the floating support is installed,the roll and sway of the floating tugboat has a greater impact on its attitude change.The floating tugboat under the action of the fourth-level waves is used as the research object.Shake and sway motion equations of motion;Analyze the motion state of the heave compensation device under the action of the waves,and consider the influence of the hydraulic cylinder reaction force on the ship's motion attitude during the heave compensation process.The reaction signal of the hydraulic cylinder received by the ship in motion is used as the input signal to solve the equation of motion of the ship under the combined action of wind and wave forces and heave compensation reaction force.The motion of the ship is used as the input signal to calculate the hydraulic pressure of the heave compensation device during the movement The control system motion error and the hydraulic cylinder motion error equation determine the force of the upper platform of the heave compensation and determine the stability of the upper platform during the compensation process;The overall motion model of the ship device and the heave compensation device is established.Based on simulink,a simulation model of the whole device is built.Based on the motion state of the ship under the waves,it is used as the signal input of the overall experimental device.Signal for input.Based on theoretical calculations,the movement curve at the connection point between the hydraulic platform of the ship platform and the heave compensation device is used as the signal input for the heave compensation device,and the displacement change at the connection point between the upper platform of the heave compensation device and the heave compensation device is simulated and analyzed;Through the analysis of the simulation results of the model,it is verified that the heave compensation device can ensure the stability of the upper platform under the action of the three-stage waves,meet the requirements of the floating bracket installation for the stability of the platform,and verify the feasibility of the application of the modified scheme in the process of heave compensation.In this paper,a reasonable solution is put forward to the problem of the influence of the wave on the installation of the floating support during the installation of the floating support,and the effect of the heave compensation device on the sea wave can be realized by the heave compensation device during the installation of the floating support,so as to ensure the smooth installation of the upper module.In that hydraulic system of the heave compensation device,a displacement coordination control algorithm is introduce to ensure the control precision of the hydraulic system of the heave compensation device,and further ensure the stability and the accuracy of the motion of the heave compensation device.The theoretical research shows the feasibility of the scheme and provides a theoretical basis for the construction of the next practical heave compensation device.