船用吊艇架被动式波浪补偿技术研究
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摘要
吊艇架是船舶上收放小艇的重要设备,装有波浪补偿系统的吊艇架可以补偿小艇和母船的相对运动,避免由于绳索松驰而产生冲击,减小海浪对小艇收放过程的影响,保障设备和人员的安全。
本文对吊艇架被动式波浪补偿技术做了如下研究:首先,在分析被动式波浪补偿基本原理的基础上,综述起升和被动下降工况的特点。由于补偿速度和补偿张力是波浪补偿技术的重点,因此对补偿速度和补偿张力进行深入研究。分析母船运动和吊艇架安装位置对补偿速度的影响,并进行仿真分析。在研究小艇受力基础上分析补偿张力对小艇摇摆的影响,对补偿张力的减摇效果进行仿真分析。其次,对常用的蓄能器被动式波浪补偿装置进行分析,在理论分析的基础上建立其数学模型,对其特性进行仿真分析,得到蓄能器补偿装置的特点。针对蓄能器补偿装置在补偿速度、补偿张力和补偿距离等方面的不足,设计基于双排量马达的被动式波浪补偿装置,利用马达恒扭矩原理实现恒张力补偿;通过马达变工况的方式实现绳索的随动补偿;利用双排量马达可变排量的特点实现波浪补偿和收放小艇模式的转换。在理论分析的基础上建立起升和被动下降工况相应的数学建模,通过对数学模型的研究及仿真,分析其参数变化对系统性能的影响。最后,对双排量马达被动式波浪补偿装置工作过程进行仿真研究,分析溢流阀压力、供油量和马达排量等参数对系统的影响。
分析表明基于双排量马达的吊艇架被动式波浪补偿技术理论上可行,但实际应用效果有待工程验证。
Davit is an important device used on receiving and dropping boat on ship. Davit installed with wave compensation system can compensate relative movement between ship and boat. Avoid impact caused by loosened rope. Reduce the impact to receiving and dropping boat caused by ocean wave. Ensure the safety of equipment and personnel.
This paper make study on passive wave compensation as follow: First, on the basis of analysis of the basic principles of passive wave compensation, summary lifting and passive conditions characterized characteristic. Compensation rate and compensation tension is the focus of wave compensation technology, so conduct in-depth study on the compensation rate and compensation tension. Analyze the affect to relative movement rate caused by ship movements and davit installation location and simulation and analysis. On the basis of study on the force of boat. Analyze the impact of compensation tension on the boat rocking and simulation and analysis. Second, analyze accumulator passive wave compensation device. On the basis of the theoretical analysis, establish its mathematical model. For the compensation rate, compensation tension and lack of compensation for distance of accumulator compensation device design dual-displacement motor passive wave compensation device .Use constant motor torque to achieve constant tension compensation. Variable conditions of the motor achieve the rope with the motion compensation. Use dual-emission characteristics of variable displacement motor to achieve compensation and receiving and dropping boat mode conversion. On the basis of the theoretical analysis, establish its mathematical model. Through the study of mathematical models and simulation analyze the affect of parameters of change on system performance. Last. Simulate double-displacement motor passive wave compensation device. Analyze the impact of pressure relief valve, fuel supply and motor displacement parameters on the system.
Analysis showed that the double-displacement motor davits passive wave compensation technique theoretically feasible, but the practical application of project results to be verified.
本文对吊艇架被动式波浪补偿技术做了如下研究:首先,在分析被动式波浪补偿基本原理的基础上,综述起升和被动下降工况的特点。由于补偿速度和补偿张力是波浪补偿技术的重点,因此对补偿速度和补偿张力进行深入研究。分析母船运动和吊艇架安装位置对补偿速度的影响,并进行仿真分析。在研究小艇受力基础上分析补偿张力对小艇摇摆的影响,对补偿张力的减摇效果进行仿真分析。其次,对常用的蓄能器被动式波浪补偿装置进行分析,在理论分析的基础上建立其数学模型,对其特性进行仿真分析,得到蓄能器补偿装置的特点。针对蓄能器补偿装置在补偿速度、补偿张力和补偿距离等方面的不足,设计基于双排量马达的被动式波浪补偿装置,利用马达恒扭矩原理实现恒张力补偿;通过马达变工况的方式实现绳索的随动补偿;利用双排量马达可变排量的特点实现波浪补偿和收放小艇模式的转换。在理论分析的基础上建立起升和被动下降工况相应的数学建模,通过对数学模型的研究及仿真,分析其参数变化对系统性能的影响。最后,对双排量马达被动式波浪补偿装置工作过程进行仿真研究,分析溢流阀压力、供油量和马达排量等参数对系统的影响。
分析表明基于双排量马达的吊艇架被动式波浪补偿技术理论上可行,但实际应用效果有待工程验证。
Davit is an important device used on receiving and dropping boat on ship. Davit installed with wave compensation system can compensate relative movement between ship and boat. Avoid impact caused by loosened rope. Reduce the impact to receiving and dropping boat caused by ocean wave. Ensure the safety of equipment and personnel.
This paper make study on passive wave compensation as follow: First, on the basis of analysis of the basic principles of passive wave compensation, summary lifting and passive conditions characterized characteristic. Compensation rate and compensation tension is the focus of wave compensation technology, so conduct in-depth study on the compensation rate and compensation tension. Analyze the affect to relative movement rate caused by ship movements and davit installation location and simulation and analysis. On the basis of study on the force of boat. Analyze the impact of compensation tension on the boat rocking and simulation and analysis. Second, analyze accumulator passive wave compensation device. On the basis of the theoretical analysis, establish its mathematical model. For the compensation rate, compensation tension and lack of compensation for distance of accumulator compensation device design dual-displacement motor passive wave compensation device .Use constant motor torque to achieve constant tension compensation. Variable conditions of the motor achieve the rope with the motion compensation. Use dual-emission characteristics of variable displacement motor to achieve compensation and receiving and dropping boat mode conversion. On the basis of the theoretical analysis, establish its mathematical model. Through the study of mathematical models and simulation analyze the affect of parameters of change on system performance. Last. Simulate double-displacement motor passive wave compensation device. Analyze the impact of pressure relief valve, fuel supply and motor displacement parameters on the system.
Analysis showed that the double-displacement motor davits passive wave compensation technique theoretically feasible, but the practical application of project results to be verified.
引文
[1]金蓓.波浪补偿起艇绞车.机电设备.2006,(04).
[2]刘贺,李彬,胡晓东.波浪补偿起艇绞车的研究[J].上海造船, 2008, (02)
[3]吴祖年,余伟成等.船舶设计实用手册.第三分册.国防工业出版社.1963;413-561
[4]夏国忠.船舶结构与设备.大连海事大学出版社.1998:115-140.
[5]任鸿,严梅剑,马网扣.某型综合补给船补给门架的设计[J]船舶.2006,(01)
[6]孙鲁闽,顾炳,余德全.基于波浪补偿技术的新型海上换乘装置研究[J].机电设备, 2009,(03)
[7]谢江怡.补给工作艇收放装置选型设计分析.船舶. 2007,(04)
[8]邱志成,赵明扬,谈大龙,房立金,徐志刚.一种具有波浪补偿和防晃功能的船用起重机[J]工程机械. 1999,(02)
[9]蒋余良,眭国忠.高海况下小艇收放装置的技术与发展探讨[J].江苏船舶.2008, (06)
[10]黄孟南. HRU_1型小艇吊钩装置.七零四研究所.
[11]刘绍兴,周江涛,杨清璞.船用液压起重机加装波浪补偿装置的研究[J]机电设备,1999,(05)
[12]严梅剑.海上航行横向补给装置选型设计[J]船舶, 2004,(01)
[13]刘春阳.船用起货机波浪补偿研究[D]大连海事大学, 2009
[14]彭江丰.液压折臂式起重机的波浪补偿装置设计[J]船舶, 2000,(03)
[15]邵曼华,寇雄,赵鹏程.几种船用起重机波浪补偿装置[J]机械工程师, 2004,(02)
[16]方晓旻.船用起重机和波浪补偿控制系统设计研究[D]哈尔滨工程大学, 2009
[17]徐小军,何平,陈循,尚建忠.基于DSP的主动式波浪补偿起重机控制系统设计[J]国防科技大学学报, 2008,(01)
[18]严梅剑.海上航行横向补给装置选型设计[J]船舶, 2004,(01)
[19]金鸿章.长峰波随机海浪的实时仿真和频谱分析.船舶工程.1987,2(1)
[20]尹茜,陈红卫.随机海浪下船舶摇荡的计算机仿真.2007 ,24 (6 )
[21]金鸿章,姚绪梁.船舶控制原理.哈尔滨工程大学出版社。1999:18-34
[22] Fang M C, Kim C H. An analysis of water shipping between two floating platforms in the beam waves .Journal of Offshore Mechanics and Arctic Engineering, 1987,109, 109 :179~185
[23] Newman J N. Wave effects on deformable bodies .Applied Ocean Research, 1994,16, 16 :47~59
[24] Schaub H. Rate-based ship-mounted crane payload pendulation control system .Control Engineering Practice, 2008, (16) :132-145
[25] Purcell M J,Ned C.Forrester. Bobbing Crane Heave Compensation for the Deep Towed Fiber Optic Survey System .Society of Naval Architects and Marine Engineers,New England Section, 1994, :1-16
[26]梁利华.液压传动与电液伺服系统.哈尔滨工程大学出版社.2005
[27]吴卫荣.液压技术.中国轻工业出版社.第三版
[28]徐小军,陈循,尚建忠.一种新型主动式波浪补偿系统的原理及数学建模[J]国防科技大学学报, 2007,(03)
[29]刘志,蒋继斌.基于ADAMS的耙吸式挖泥船疏浚过程的仿真研究.数字设备与数字制造.2006,(01).
[30]宁继鹏.电液伺服削峰装置机理研究及仿真.哈尔滨工程大学硕士学位论文.2008
[31]孔祥东,权凌霄.基于力学分析的蓄能器数学模型建立及实验研究.液压与气动.2006,(07)
[32]何存兴,张铁华.液压传动与气压传动.华中科技大学出版社
[33]嵇春艳,李华军.随机波浪作用下海洋平台主动控制的时滞补偿研究[J]海洋工程, 2004,(04)
[34] J.Wang, J.B.Yang, P.Sen, T.Ruxton. Safety based design and maintenance optimization of large marine engineering systems .Applied Ocean Research, 1996,18, 18 :13-27
[35] Do K D,PanJ Nonlinear control of an active heave compensation system .Ocean Eng, 2008,35, 35 (5-6) :558―571
[36]陆卫杰.舰艇并靠导弹补给及波浪补偿系统研究[D].南京理工大学, 2006
[37]付永领,祁晓野.AMESim系统建模和仿真[M].北京:北京航空航天大学出版社,1999.
[38]刘海丽.基于AMESim的液压系统建模与仿真技术研究.西北工业大学硕士学位论文.
[39]唐玉蓉.试析皮囊式蓄能器的热力学状态及其对工作参数选择的影响[J].电子机械工程,1999(12):7
[40]王琳,曹瑞涛.蓄能器基本参数的确定及其特性对液压系统的影响.陶瓷.2005(5)
[41] PMurakami.Hiroaki(Toshiba Corp),Yano Naoka.Multiplier-accumulator macro for a 45 MIPS embedded RISC processor[J].IEEE Journal of Solid-State Circuits,1996,(7):1067-1071
[42]金胜秋.基于AMESim的液压同步阀的仿真分析及结构研究.吉林大学硕士学位论文.2009.5
[43]苏东海,于江华.液压仿真新技术AMESim及应用.机械.2006,11(25)
[44]秦家升,游善兰.AMESim软件的特性及其应用.工程机械.2004,35(12)
[2]刘贺,李彬,胡晓东.波浪补偿起艇绞车的研究[J].上海造船, 2008, (02)
[3]吴祖年,余伟成等.船舶设计实用手册.第三分册.国防工业出版社.1963;413-561
[4]夏国忠.船舶结构与设备.大连海事大学出版社.1998:115-140.
[5]任鸿,严梅剑,马网扣.某型综合补给船补给门架的设计[J]船舶.2006,(01)
[6]孙鲁闽,顾炳,余德全.基于波浪补偿技术的新型海上换乘装置研究[J].机电设备, 2009,(03)
[7]谢江怡.补给工作艇收放装置选型设计分析.船舶. 2007,(04)
[8]邱志成,赵明扬,谈大龙,房立金,徐志刚.一种具有波浪补偿和防晃功能的船用起重机[J]工程机械. 1999,(02)
[9]蒋余良,眭国忠.高海况下小艇收放装置的技术与发展探讨[J].江苏船舶.2008, (06)
[10]黄孟南. HRU_1型小艇吊钩装置.七零四研究所.
[11]刘绍兴,周江涛,杨清璞.船用液压起重机加装波浪补偿装置的研究[J]机电设备,1999,(05)
[12]严梅剑.海上航行横向补给装置选型设计[J]船舶, 2004,(01)
[13]刘春阳.船用起货机波浪补偿研究[D]大连海事大学, 2009
[14]彭江丰.液压折臂式起重机的波浪补偿装置设计[J]船舶, 2000,(03)
[15]邵曼华,寇雄,赵鹏程.几种船用起重机波浪补偿装置[J]机械工程师, 2004,(02)
[16]方晓旻.船用起重机和波浪补偿控制系统设计研究[D]哈尔滨工程大学, 2009
[17]徐小军,何平,陈循,尚建忠.基于DSP的主动式波浪补偿起重机控制系统设计[J]国防科技大学学报, 2008,(01)
[18]严梅剑.海上航行横向补给装置选型设计[J]船舶, 2004,(01)
[19]金鸿章.长峰波随机海浪的实时仿真和频谱分析.船舶工程.1987,2(1)
[20]尹茜,陈红卫.随机海浪下船舶摇荡的计算机仿真.2007 ,24 (6 )
[21]金鸿章,姚绪梁.船舶控制原理.哈尔滨工程大学出版社。1999:18-34
[22] Fang M C, Kim C H. An analysis of water shipping between two floating platforms in the beam waves .Journal of Offshore Mechanics and Arctic Engineering, 1987,109, 109 :179~185
[23] Newman J N. Wave effects on deformable bodies .Applied Ocean Research, 1994,16, 16 :47~59
[24] Schaub H. Rate-based ship-mounted crane payload pendulation control system .Control Engineering Practice, 2008, (16) :132-145
[25] Purcell M J,Ned C.Forrester. Bobbing Crane Heave Compensation for the Deep Towed Fiber Optic Survey System .Society of Naval Architects and Marine Engineers,New England Section, 1994, :1-16
[26]梁利华.液压传动与电液伺服系统.哈尔滨工程大学出版社.2005
[27]吴卫荣.液压技术.中国轻工业出版社.第三版
[28]徐小军,陈循,尚建忠.一种新型主动式波浪补偿系统的原理及数学建模[J]国防科技大学学报, 2007,(03)
[29]刘志,蒋继斌.基于ADAMS的耙吸式挖泥船疏浚过程的仿真研究.数字设备与数字制造.2006,(01).
[30]宁继鹏.电液伺服削峰装置机理研究及仿真.哈尔滨工程大学硕士学位论文.2008
[31]孔祥东,权凌霄.基于力学分析的蓄能器数学模型建立及实验研究.液压与气动.2006,(07)
[32]何存兴,张铁华.液压传动与气压传动.华中科技大学出版社
[33]嵇春艳,李华军.随机波浪作用下海洋平台主动控制的时滞补偿研究[J]海洋工程, 2004,(04)
[34] J.Wang, J.B.Yang, P.Sen, T.Ruxton. Safety based design and maintenance optimization of large marine engineering systems .Applied Ocean Research, 1996,18, 18 :13-27
[35] Do K D,PanJ Nonlinear control of an active heave compensation system .Ocean Eng, 2008,35, 35 (5-6) :558―571
[36]陆卫杰.舰艇并靠导弹补给及波浪补偿系统研究[D].南京理工大学, 2006
[37]付永领,祁晓野.AMESim系统建模和仿真[M].北京:北京航空航天大学出版社,1999.
[38]刘海丽.基于AMESim的液压系统建模与仿真技术研究.西北工业大学硕士学位论文.
[39]唐玉蓉.试析皮囊式蓄能器的热力学状态及其对工作参数选择的影响[J].电子机械工程,1999(12):7
[40]王琳,曹瑞涛.蓄能器基本参数的确定及其特性对液压系统的影响.陶瓷.2005(5)
[41] PMurakami.Hiroaki(Toshiba Corp),Yano Naoka.Multiplier-accumulator macro for a 45 MIPS embedded RISC processor[J].IEEE Journal of Solid-State Circuits,1996,(7):1067-1071
[42]金胜秋.基于AMESim的液压同步阀的仿真分析及结构研究.吉林大学硕士学位论文.2009.5
[43]苏东海,于江华.液压仿真新技术AMESim及应用.机械.2006,11(25)
[44]秦家升,游善兰.AMESim软件的特性及其应用.工程机械.2004,35(12)