基于电-液混合控制波浪补偿装置的起吊系统仿真研究
|
摘要
设计了一种用于有缆水下机器人起吊系统的波浪补偿装置,其将传统的绞车转轴和绞盘固定连接的方式改成通过若干液压马达和电机将绞车转轴力矩传输到绞盘的方式,通过调节电机和液压马达输出力矩实现波浪补偿控制,不仅结构简单、操作方便,而且不增加甲板安装面积。通过合理建模假设和数学推导,建立了该起吊系统的简化数学模型。仿真结果表明,该数学模型能够准确描述起吊系统在规则波浪情况下的运动过程,且对应的波浪补偿装置能够在一定范围内减弱作用在吊装线缆的张紧力变化的剧烈程度,从而削弱了波浪对水下机器人运动的影响。
It developed an innovative heave compensation system(HCS) for remotely control vehicles(ROV), which changes the traditional fixed mechanical joint between shaft of drum and winches into a movable mechanical connection through many gears driven by electrical motors or hydraulic motors. By regulating the torques of these motors, the HCS can reduce the shocking force on cable caused by waves. The HCS has the following advantages including simple structure, easy operation, and suitability for limited mounting area. Based on reasonable modeling assumptions and mathematical deductions, a reduced mathematic model for the HCS was built. Simulation results of the mathematic model demonstrate that the model can illustrate the movements of HCS accurately, and the HCS can reduce the changing severity of pull forces acting on umbilical, which can relieve shocking forces caused by waves.
It developed an innovative heave compensation system(HCS) for remotely control vehicles(ROV), which changes the traditional fixed mechanical joint between shaft of drum and winches into a movable mechanical connection through many gears driven by electrical motors or hydraulic motors. By regulating the torques of these motors, the HCS can reduce the shocking force on cable caused by waves. The HCS has the following advantages including simple structure, easy operation, and suitability for limited mounting area. Based on reasonable modeling assumptions and mathematical deductions, a reduced mathematic model for the HCS was built. Simulation results of the mathematic model demonstrate that the model can illustrate the movements of HCS accurately, and the HCS can reduce the changing severity of pull forces acting on umbilical, which can relieve shocking forces caused by waves.
引文
[1]陈张建.波浪补偿执行器设计研究[D].大连:大连海事大学,2013:28-37.
[2]陈亮,张城,张小雅.大型起重船波浪中的运动响应[J].上海船舶运输科学研究所学报,2011,34(2):99-102.CHEN L,ZHANG C,ZHANG X Y.The Response of Large Crane Ship to Waves[J].Journal of Shanghai Ship and Shipping Research Institute,2011,34(2):99-102.
[3]WOODACREA J K,BAUER R J,RISHAD I.Hydraulic valvebased active-heave compensation using a model-predictive controller with non-linear valve compensations[J].Ocean Engineering,2018,152(1):47-56.
[4]WOO N S,HAN S,KIM Y J,et al.Study on the structural stability evaluation of umbilical winch for ROV LARS[J].Engineering Computations,2018,35(1):202-210.
[5]梁东生,耿立新,佘建国,等.波浪补偿装置的运动学分析与仿真[J].江苏科技大学学报,2016,30(1):79-83.LIANG D S,GENG L X,SHE J G,et al.Analysis and Simulation of the Kinematics of Wave Compensation Devices[J].Journal of Jiangsu University of Science and Technology,2016,30(1):79-83.
[6]邓磊,董文才,姚朝帮.迎浪规则波中小水线面双体船纵向运动及波浪载荷非线性特性数值分析[J].船舶力学,2017,21(3):249-261.DENG L,DONG W C,YAO C B.Numerical Study on the Nonlinear Characteristics of Longitudinal Motions and Wave Loads for SWATH Ship in Regular Head Waves[J].Journal of Ship Mehanics,2017,21(3):249-261.
[7]孙小帅,姚朝帮,叶青.小水线面双体船波浪中纵向运动性能模拟试验研究[J].国防科技大学学报,2017,39(4):161-167.SUN X S,YAO C B,YE Q.Experimental Investigation on the Seakeeping Performance of Small Waterplane area Twin Hull in Head Waves[J].Journal of National University of Defense Technology,2017,39(4):161-167.
[8]JIN Y P,WAN B Y,LIU D S,et al.Dynamic analysis of launch&recovery system of seafloor drill irregular waves[J].Ocean Engineering,2016,117(3):321-331.
[9]WU Y X,LU J H,ZHANG C L.Study on dynamic characteristics of coupled model for deep-water lifting system[J].Journal of Ocean University of China,,2016,15(5):809-814.
[2]陈亮,张城,张小雅.大型起重船波浪中的运动响应[J].上海船舶运输科学研究所学报,2011,34(2):99-102.CHEN L,ZHANG C,ZHANG X Y.The Response of Large Crane Ship to Waves[J].Journal of Shanghai Ship and Shipping Research Institute,2011,34(2):99-102.
[3]WOODACREA J K,BAUER R J,RISHAD I.Hydraulic valvebased active-heave compensation using a model-predictive controller with non-linear valve compensations[J].Ocean Engineering,2018,152(1):47-56.
[4]WOO N S,HAN S,KIM Y J,et al.Study on the structural stability evaluation of umbilical winch for ROV LARS[J].Engineering Computations,2018,35(1):202-210.
[5]梁东生,耿立新,佘建国,等.波浪补偿装置的运动学分析与仿真[J].江苏科技大学学报,2016,30(1):79-83.LIANG D S,GENG L X,SHE J G,et al.Analysis and Simulation of the Kinematics of Wave Compensation Devices[J].Journal of Jiangsu University of Science and Technology,2016,30(1):79-83.
[6]邓磊,董文才,姚朝帮.迎浪规则波中小水线面双体船纵向运动及波浪载荷非线性特性数值分析[J].船舶力学,2017,21(3):249-261.DENG L,DONG W C,YAO C B.Numerical Study on the Nonlinear Characteristics of Longitudinal Motions and Wave Loads for SWATH Ship in Regular Head Waves[J].Journal of Ship Mehanics,2017,21(3):249-261.
[7]孙小帅,姚朝帮,叶青.小水线面双体船波浪中纵向运动性能模拟试验研究[J].国防科技大学学报,2017,39(4):161-167.SUN X S,YAO C B,YE Q.Experimental Investigation on the Seakeeping Performance of Small Waterplane area Twin Hull in Head Waves[J].Journal of National University of Defense Technology,2017,39(4):161-167.
[8]JIN Y P,WAN B Y,LIU D S,et al.Dynamic analysis of launch&recovery system of seafloor drill irregular waves[J].Ocean Engineering,2016,117(3):321-331.
[9]WU Y X,LU J H,ZHANG C L.Study on dynamic characteristics of coupled model for deep-water lifting system[J].Journal of Ocean University of China,,2016,15(5):809-814.