Research On Winch-type Heave Compensation Electro-Hydraulic Control System Based On Secondary Components

In the 21st century,mankind has entered a new stage of developing Marine resources and utilizing Marine strategic space.The world’s major maritime powers have formulated Marine strategies and plans under the new situation,and accelerated their layout to the ocean.Heave compensation equipment is an essential Marine equipment to ensure the safety,accuracy and efficiency of Marine operations and the safe transfer of personnel and materials at sea.At present,there are few mature heave compensation equipment in the domestic market.It has a certain significance to carry out active heave compensation equipment research based on secondary components for the implementation of Marine power strategy.This paper takes the winch type heave compensation electro-hydraulic control system based on secondary components as the research object.Through problem analysis,principle design,theoretical modeling,simulation analysis and experimental research,the method to improve the compensation accuracy of heave compensation equipment is given as follows:Firstly,the research background and significance of heave compensation technology and secondary regulation technology are introduced respectively,and the research status and content of the two technologies at home and abroad are analyzed.On this basis,the research purpose and significance of this topic are expounded,and the main research content is determined.Then,in view of the low compensation accuracy caused by large inertia time delay,which is common in heave compensation system,a time series prediction algorithm based on BP neural network is designed in combination with the delay module to realize the very shortterm prediction of one-dimensional time series.In view of the BP neural network,the initial network with different weights and thresholds tends to converge to different local minima.In order to obtain different results from each training,BAS algorithm was used to optimize the BP neural network model to improve the prediction accuracy and meet the needs of practical applications.Secondly,according to the existing winch heave compensation experimental platform based on secondary components in the laboratory,its mathematical model and Matlab/Simulink&AMESim co-simulation model are established,and the three-closed-loop PID position controller and three-closed-loop ADRC position controller are designed.Through simulation,the advantages of the three-closed-loop ADRC controller over the classical PID controller in the overshoot and rapidity are verified,and the compensation rate is improved under the condition that the prediction is not started.The BAS-BP neural network prediction is applied to the simulation,and the compensation rate of the system is improved again.It is proved that the neural network prediction model can be used to predict the input signal to compensate the delay.Again,the simulation experiment of ship heave motion,the three-closedloop position compensation experiment and the three-closed-loop position compensation experiment based on prediction are completed successively by using the winch heave compensation experimental platform based on secondary components built in the laboratory.It is verified that the application of BAS-BP neural network prediction model in the actual physical system to predict and process the input signal to compensate the time delay can effectively improve the compensation rate.Finally,the paper summarizes the full text and puts forward the direction that can be further explored on the basis of this paper.