深水吊装升沉补偿液压系统建模与优化
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摘要
在深海吊装作业过程中,由于风浪流的联合作用,吊放装备受安装载体升沉运动激励易诱发共振现象,并且使吊放装置垂向剧烈波动,严重影响水下吊装生产安全。为了保证水下作业安全可靠,研究设计了主动升沉补偿液压系统,提出由吊放回路和补偿回路组成的双液压回路升沉补偿系统,并且由两台低速、大扭矩液压马达驱动行星轮绞车实现升沉补偿功能。通过理论分析建立其补偿回路数学模型,利用Matlab/Simulink进行建模仿真。仿真结果表明液压阻尼比过小是导致液压系统不稳定,响应变慢的主要原因,在补偿回路液压马达进出油口之间并联一个动压反馈装置,提高液压系统的动态响应特性和稳定性,响应时间达到0.35s,具有良好升沉补偿效果,工作稳定可靠,满足系统的性能要求。
When the installation system is operating in the deep sea,this system easily causes to cause resonance phenomenon that induces vertical displacement of the lifting load strong impact on lifting safety.To ensure the normal order of the underwater equipment installation,the installation system with heave compensation function has important application prospects.An active deepwater lifting heave compensation hydraulic system consisting of lifting and compensating hydraulic circuit and powered by two low-velocity and big large torque motors is designed and used to drive the planet wheels to achieve the compensation function.The mathematical models of the compensation loop of the hydraulic system is built through theoretical analysis,and the software Matlab/Simulink is used to simulate.The mathematical model analysis shows that the main reason leading to hydraulic system instability,slow response is that hydraulic damping ratio too small.A dynamic pressure feedback device installed in parallel in the oil inlet and outlet improves the stability and response speed of the system,the response time is up to 0.35 s,and the hydraulic system is stable and secure and meets the performance requirements.
When the installation system is operating in the deep sea,this system easily causes to cause resonance phenomenon that induces vertical displacement of the lifting load strong impact on lifting safety.To ensure the normal order of the underwater equipment installation,the installation system with heave compensation function has important application prospects.An active deepwater lifting heave compensation hydraulic system consisting of lifting and compensating hydraulic circuit and powered by two low-velocity and big large torque motors is designed and used to drive the planet wheels to achieve the compensation function.The mathematical models of the compensation loop of the hydraulic system is built through theoretical analysis,and the software Matlab/Simulink is used to simulate.The mathematical model analysis shows that the main reason leading to hydraulic system instability,slow response is that hydraulic damping ratio too small.A dynamic pressure feedback device installed in parallel in the oil inlet and outlet improves the stability and response speed of the system,the response time is up to 0.35 s,and the hydraulic system is stable and secure and meets the performance requirements.
引文
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[12]李大中,金洪亮,刘淑平.基于混合灵敏度函数的H∞控制器参数模糊优化方法[J].控制理论与应用,2004(1):134-138.Li D Z,JIN H L,Liu S P.Method of Parameter fuzzy optimization of H∞controller based on mixed sensitivity function[J].Control Theory&Application,2004(1):134-138.
[2]James E,darnson A.Efficient heave motion compensation for cable-suspended systems[J].Underwater Intervention,2003,26:1-7.
[3]K D Do,J pan.Nonlinear control of an active heave compensation system[J].Ocean Engineering,2008,35:558-571.
[4]杨文林,张竺英,张艾群.水下机器人主动升沉补偿系统研究[J].海洋工程,2007,25(3):68-72.Yang W L,Zhang Z Y,Zhang A Q.Study of active heave compensation system for underwater vehicle[J].The Ocean Engimeering,2007,25(3):68-72.
[5]Jeffrey D,Haney,Dean W,et al.Low power/high performance active heave compensation[J].Sea Technology,2006,6:23-31.
[6]吴隆明.深海作业起重机主动式升沉补偿控制系统的研究与开发[D].广州:华南理工大学,2012.Wu L M.Research and Develpoment of Active Heave Compensation in Deep-sea Ship Crane[D].Guangzhou:South China University of Technology,2012.
[7]张大兵,乌建中,郑福来.船用起重机升沉补偿系统建模与仿真[J].中国机械工程,2014,23(7):794-797.Zhang D B,Wu J Z,Zheng F L.Modeling Simulation on Heave Compensation System for Ship-mounted Crane[J].China Mechanical Engineering,2014,23(7):794-797.
[8]胡永攀,陈循,陶利民,等.主动式波浪补偿起重机液压伺服系统数学建模与优化[J].机床与液压,2010,38(9):80-90.Hu Y P,Chen X,Tao L M,et al.Mathematical modeling and optimization of hydraulic servo system in active heave compensation crane[J].Machine Tool&Hydraulics,2010,38(9):80-90.
[9]徐小军,陈循,尚建忠,等.波浪补偿系统差动行星传动多目标模糊可靠性优化设计[J].中国机械工程,2008,19(2):392-395.Xu X J,Chen X,Shang J Z,et al.Multi-objective fuzzy reliability optimal design of differential planet transmission mechanism for heave compensation[J].China Mechanical Engineering,2008,19(2):392-395.
[10]王海波.水下拖曳升沉补偿液压系统及其控制研究[D].杭州:浙江大学,2009.Wang H B.Research on the Underwater Towed Heave Compensation Hydraulic System and Control Strategies[D].Hangzhou:Zhejiang University,2009.
[11]宋志安,曹连民等,黄靖,等.MATLAB/Simulink与液压控制系统仿真[M].北京:国防工业出版社,2012.Song Z A,Cao L M,Huang J,et al.MATLAB/Simulink and Hydraulic Control System Simulation[M].Beijing:National Defense Industry Press,2012.
[12]李大中,金洪亮,刘淑平.基于混合灵敏度函数的H∞控制器参数模糊优化方法[J].控制理论与应用,2004(1):134-138.Li D Z,JIN H L,Liu S P.Method of Parameter fuzzy optimization of H∞controller based on mixed sensitivity function[J].Control Theory&Application,2004(1):134-138.