高海况救助艇收放装置控制系统设计及仿真
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摘要
随着科学技术的不断发展,人类对资源的需求越来越多,这使得人们不断加强对海洋的探索和开发,所以国际船舶市场在进入20世纪以来也随之得到了更迅猛的发展,这对我国的船舶工业来说既是机遇也是挑战。因此,对船舶配套设备产业还需要投入更多的研究。救助艇收放装置是用于降放和收回救助艇的海上作业设备,它的任务是保证舰船上的救助艇和人员快速、安全地降放至水面,并将救助艇安全地收回到舰船上。对救助艇收放控制直接关系到救助人员的人身安全问题,特别是在高海况时,安全收放显得尤为重要。对收放装置控制系统的研究在民用和军事领域均具有重要的意义和实用价值。高海况救助艇收放控制的关键技术主要包括减摆与波浪补偿控制以及救助艇收放过程的逻辑保护。
论文首先研究船舶运动理论,分析船舶横摇与纵摇运动对收放装置的影响,确定船舶摇荡是收放装置系统摆振的原因。研究收放装置减摆系统的结构及工作原理,建立救助艇摆振模型,并对其进行简化,根据影响救助艇摆振的主要因素对减摆阻尼装置的相关参数进行分析设计。并以某一具体收放装置为例,建立其虚拟样机仿真模型,在3级海况与6级海况下进行仿真,验证了被动式减摆系统的有效性。根据船舶运动原理分析了波浪补偿的必要性,利用双排量马达设计了具有主动式波浪补偿功能的起艇绞车,建立了波浪补偿起艇绞车的高扭矩工作模式和低扭矩工作模式的数学模型并进行了仿真分析,仿真结果表明所设计的波浪补偿绞车结构紧凑,响应迅速,波浪补偿精度高,性能可靠,为主动式波浪补偿系统的工程化应用奠定了理论基础。最后通过对救助艇收放控制关键技术的研究和对救助艇收放逻辑动作过程的分析,确定了控制系统应具备的功能,设计了控制系统方案,采用西门子S7-300PLC控制器作为核心控制器完成收放装置控制系统的设计。
论文的研究结果,证明了救助艇收放装置减摆系统和主动式波浪补偿控制系统可以有效的提高救助艇收放装置适应高海况的能力,增加救助艇收放装置在高海况下使用的安全性。
Following the development of the technology and science, human demand much more resource than before, which makes people continuously strengthen on Marine exploration and development, so international shipping market into the 20th century has been a more rapid development. It is not only an opportunity but also a great challenge to our country's shipbuilding industry. As a result, more research will be inputted to corollary equipment of ship.Launch and recovery device of rescure boat is applicated to put down and receive the ocean operating equipment, the task of it is that it must ensure the rescue boat and personnel putting down to the surface quickly and safely, and ensure them receiving back to the rescue boat. Launch and recovery control of the rescue boat is directly related to the safe of workers who are on the boat, especially at abominable sea condition, the security of people is particularly important. The research and design of launch and recovery device on the control system is to the point with both civil and military fields. It is significant and applicative. The key technology of the launch and recovery device of rescure boat at abominable sea condition mainly includes inti-pendulation and wave compensation,and also the logical protect of rescure boat launch and recovery process.
The first case of this article is to analyze the impact of launch an recovery device which is caused by the motion of ship at abominable sea conditions, and ensure the application of launch and recovery device at abominable sea conditions must be placed by them. The purpose of it is in order to reduce the swing of rescue boats which is on the impact of launch and recovery device. Then we research on the system which is the reduction of rolling, according to the principle of reducing pendulum system which is designed by passive system and launch and recovery device, we use a specific way to establish the virtual prototype simulation model of the machine, we discover that the rescue boats were much lower than Shimmy reduction at the end of simulation analysis to determine launch and recovery device joined by Pendulum rescue boats, the system play an important role in the effect of reduction rolling. Secondly, we study the launch and recovery device in the wave compensational system, the aim of the wave compensation is alleviating the impact of waves on the rescue boat. According to the principle of ship motions, the necessity of waves compensation is analyzed. Then waves compensation winch with active wave compensation function is designed using double displacement motor. The mathematical model is established when waves compensation winch works in high torque operation modes and low torque operation modes. The simulation results showed that the winch designed with waves compensation control has compact structure, quick response, waves compensation, reliable performance, and high precision, which make a theoretical foundation for active wave compensation system use in engineering application. Finally, we complete the design of the electrical control system with PLC controller by the way that we research it in, at the start of the process the results have been come out by researching the key technology of the rescue boat and analyzing the logical motion of the process.
The research results indicate that launch and recover device with anti-pendulation and active wave compensation control system can effectively improve its ability in the high sea conditions. And it also make sure the security of device of Rescue boat'launch and recover when use at abominable sea conditions.
论文首先研究船舶运动理论,分析船舶横摇与纵摇运动对收放装置的影响,确定船舶摇荡是收放装置系统摆振的原因。研究收放装置减摆系统的结构及工作原理,建立救助艇摆振模型,并对其进行简化,根据影响救助艇摆振的主要因素对减摆阻尼装置的相关参数进行分析设计。并以某一具体收放装置为例,建立其虚拟样机仿真模型,在3级海况与6级海况下进行仿真,验证了被动式减摆系统的有效性。根据船舶运动原理分析了波浪补偿的必要性,利用双排量马达设计了具有主动式波浪补偿功能的起艇绞车,建立了波浪补偿起艇绞车的高扭矩工作模式和低扭矩工作模式的数学模型并进行了仿真分析,仿真结果表明所设计的波浪补偿绞车结构紧凑,响应迅速,波浪补偿精度高,性能可靠,为主动式波浪补偿系统的工程化应用奠定了理论基础。最后通过对救助艇收放控制关键技术的研究和对救助艇收放逻辑动作过程的分析,确定了控制系统应具备的功能,设计了控制系统方案,采用西门子S7-300PLC控制器作为核心控制器完成收放装置控制系统的设计。
论文的研究结果,证明了救助艇收放装置减摆系统和主动式波浪补偿控制系统可以有效的提高救助艇收放装置适应高海况的能力,增加救助艇收放装置在高海况下使用的安全性。
Following the development of the technology and science, human demand much more resource than before, which makes people continuously strengthen on Marine exploration and development, so international shipping market into the 20th century has been a more rapid development. It is not only an opportunity but also a great challenge to our country's shipbuilding industry. As a result, more research will be inputted to corollary equipment of ship.Launch and recovery device of rescure boat is applicated to put down and receive the ocean operating equipment, the task of it is that it must ensure the rescue boat and personnel putting down to the surface quickly and safely, and ensure them receiving back to the rescue boat. Launch and recovery control of the rescue boat is directly related to the safe of workers who are on the boat, especially at abominable sea condition, the security of people is particularly important. The research and design of launch and recovery device on the control system is to the point with both civil and military fields. It is significant and applicative. The key technology of the launch and recovery device of rescure boat at abominable sea condition mainly includes inti-pendulation and wave compensation,and also the logical protect of rescure boat launch and recovery process.
The first case of this article is to analyze the impact of launch an recovery device which is caused by the motion of ship at abominable sea conditions, and ensure the application of launch and recovery device at abominable sea conditions must be placed by them. The purpose of it is in order to reduce the swing of rescue boats which is on the impact of launch and recovery device. Then we research on the system which is the reduction of rolling, according to the principle of reducing pendulum system which is designed by passive system and launch and recovery device, we use a specific way to establish the virtual prototype simulation model of the machine, we discover that the rescue boats were much lower than Shimmy reduction at the end of simulation analysis to determine launch and recovery device joined by Pendulum rescue boats, the system play an important role in the effect of reduction rolling. Secondly, we study the launch and recovery device in the wave compensational system, the aim of the wave compensation is alleviating the impact of waves on the rescue boat. According to the principle of ship motions, the necessity of waves compensation is analyzed. Then waves compensation winch with active wave compensation function is designed using double displacement motor. The mathematical model is established when waves compensation winch works in high torque operation modes and low torque operation modes. The simulation results showed that the winch designed with waves compensation control has compact structure, quick response, waves compensation, reliable performance, and high precision, which make a theoretical foundation for active wave compensation system use in engineering application. Finally, we complete the design of the electrical control system with PLC controller by the way that we research it in, at the start of the process the results have been come out by researching the key technology of the rescue boat and analyzing the logical motion of the process.
The research results indicate that launch and recover device with anti-pendulation and active wave compensation control system can effectively improve its ability in the high sea conditions. And it also make sure the security of device of Rescue boat'launch and recover when use at abominable sea conditions.
引文
[1]富贵根,桂文斌,尹爱红等.加快船舶配套产品的发展.机电设备.2008(3)：1页-4页
[2]刘震,宏海容,陈培基.吊艇架技术与标准的发展及相关问题讨论.船舶工程.2006,4(28)：9页-12页
[3]T. Vauthers. Joint Logistics over the shore operation in rough seas. Naval Engineers Journal.1994,106(3):256-263P
[4]邱志成,赵明扬,谈大龙等.一种具有波浪补偿和防晃功能的船用起重机.工程机械.1999,13(2)：12页-14页
[5]蒋余良,眭国忠.高海况西小艇收放装置的技术与发展探讨.清镇江船辅机厂.2008：6页-10页
[6]AueringJW, TrogerH.Time Optimal Control of Overhead Cranes with Hoisting of the Load.Automatiea,1987,23(4):437-447P
[7]邵曼华,寇雄,赵鹏程.几种重船起重机波浪补偿装置.天津大学,2004：14页-16页
[8]谢江怡.补给工作艇收放装置选型设计分析.船舶工程.2007(4)：49页-51页
[9]Tanizumi,k.,Youshimura T.,Hino Jnichi. Modeling of dynamic behavior and control of truck cranes. Journal of Electrical and Electronics Engineering.1994,14(2):75-84P
[10]Beliveau J.G, Zhao X.Semi-passive damping of swinging motion of conference cranes. Proceedings of the Second Construction Specialty Conference, Montreal:IEEE Press.1997,54:127-133
[11]Hippe P. New approaches to the numerical solution of optimal control problems. Optimal Control.1972,56(18):346-350
[12]M.Fliess, P.Rouchon. A simplified approach of crane control via a generalized state-space model. Proceedings of the 30th Conference on Decision and Control:IEEE Press.1991,53(28):736-741
[13]陆卫杰.舰艇并靠导弹补给及波浪补偿系统研究.南京理工大学博士学位论文.2006：4页-7页
[14]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
[15]陈黎明.深潜救生艇收放装置系统的研究与开发.东北大学硕士学位论文.2005： 49页-51页
[16]Newman J N. Wave effects on deformable bodies.Applied Ocean Research,1994,16, 16:47-59
[17]方晓旻.船用起重机和波浪补偿控制系统设计研究.哈尔滨工程大学,2009
[18]金鸿章.船舶控制原理.哈尔滨工程大学出版社.2005
[19]鲍华.基于小波网的的船舶运动建模预报.哈尔滨工程大学硕士学位论文.2008
[20]马云飞.基于扰动补偿的船舶横向运动LQG控制研究.哈尔滨工程大学硕士学位论文.2009：40页-52页
[21]梁承姬,张纪元.机械式减摇机构的动力学模型及其数值计算.上海海运学院学报.2000：36页-44页
[22]侯祥林,徐心和.单摆非线性系统阻尼参数的研究.2007中国控制与决策学术年会论文集.沈阳建筑大学,东北大学,2007：13页-15页
[23]Yao G.Z, Meng G. Parameter estimation and damping performance of electro-heological damper. J. of Sound and Vibration.1997,204(4):575-584
[24]商大中.动力学分析基础.哈尔滨工程大学出版社.1999
[25]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)
[26]刘海丽.基于AMESim的液压系统建模与仿真技术研究.西北工业大学硕士论文.2006
[27]金蓓.波浪补偿起艇绞车.机电设备.2006：(04)
[28]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)
[29]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)
[30]张凤.高海况救助设备系统电液控制技术研究.同济大学硕士学位论文.2006
[31]廖永.波浪补偿起艇绞车的研究.大连海事大学硕士学位论文.2010
[32]贾铭新.液压传动与控制.国防工业出版社,2001：122-127页
[33]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
[34]赵彦玲,吴淑红.MATLAB与SIMULINK工程应用.电子工业出版社.2002
[35]黄永安,马路,刘慧敏.MATLAB 7.0/Simulink 6.0建模仿真开发与高级工程应用.清华大学出版社.2005：13-24页
[36]李友善.自动控制原理.第三版.国防工业出版社.2005：157页-292页
[37]张汉全,肖建,汪晓宁.自动控制理论新编教程.西南交通大学出版社.2000：208页-211页
[38]刘金琨.先进PID控制Matalab仿真.电子工业出版社,2004：33页-69页
[39]马宁,孔红.S7-300PLC和MM440变频器的原理与应用.机械工业出版社,2007：1页-7页
[40]柴瑞娟,孙承志等.西门子PLC高级培训教程.人民邮电出版社.2009
[41]胡建.西门子PLC应用教程.机械工业出版社.2007
[42]黄建春.PLC工控系统设计及其在自来水控制中的应用.湖南大学工程硕士学位论文.2005
[43]王春亭.基于PLC采矿场生产设备监控管理系统的研究与开发.安徽理工大学硕士学位论文,2008
[44]姚来福,张艳芳等.电气自动化工程师速成教程.机械工业出版社.2009
[45]张海鹏.升力反馈减摇鳍系统的研究与随动系统的改造.哈尔滨工程大学硕士论文.2002
[2]刘震,宏海容,陈培基.吊艇架技术与标准的发展及相关问题讨论.船舶工程.2006,4(28)：9页-12页
[3]T. Vauthers. Joint Logistics over the shore operation in rough seas. Naval Engineers Journal.1994,106(3):256-263P
[4]邱志成,赵明扬,谈大龙等.一种具有波浪补偿和防晃功能的船用起重机.工程机械.1999,13(2)：12页-14页
[5]蒋余良,眭国忠.高海况西小艇收放装置的技术与发展探讨.清镇江船辅机厂.2008：6页-10页
[6]AueringJW, TrogerH.Time Optimal Control of Overhead Cranes with Hoisting of the Load.Automatiea,1987,23(4):437-447P
[7]邵曼华,寇雄,赵鹏程.几种重船起重机波浪补偿装置.天津大学,2004：14页-16页
[8]谢江怡.补给工作艇收放装置选型设计分析.船舶工程.2007(4)：49页-51页
[9]Tanizumi,k.,Youshimura T.,Hino Jnichi. Modeling of dynamic behavior and control of truck cranes. Journal of Electrical and Electronics Engineering.1994,14(2):75-84P
[10]Beliveau J.G, Zhao X.Semi-passive damping of swinging motion of conference cranes. Proceedings of the Second Construction Specialty Conference, Montreal:IEEE Press.1997,54:127-133
[11]Hippe P. New approaches to the numerical solution of optimal control problems. Optimal Control.1972,56(18):346-350
[12]M.Fliess, P.Rouchon. A simplified approach of crane control via a generalized state-space model. Proceedings of the 30th Conference on Decision and Control:IEEE Press.1991,53(28):736-741
[13]陆卫杰.舰艇并靠导弹补给及波浪补偿系统研究.南京理工大学博士学位论文.2006：4页-7页
[14]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
[15]陈黎明.深潜救生艇收放装置系统的研究与开发.东北大学硕士学位论文.2005： 49页-51页
[16]Newman J N. Wave effects on deformable bodies.Applied Ocean Research,1994,16, 16:47-59
[17]方晓旻.船用起重机和波浪补偿控制系统设计研究.哈尔滨工程大学,2009
[18]金鸿章.船舶控制原理.哈尔滨工程大学出版社.2005
[19]鲍华.基于小波网的的船舶运动建模预报.哈尔滨工程大学硕士学位论文.2008
[20]马云飞.基于扰动补偿的船舶横向运动LQG控制研究.哈尔滨工程大学硕士学位论文.2009：40页-52页
[21]梁承姬,张纪元.机械式减摇机构的动力学模型及其数值计算.上海海运学院学报.2000：36页-44页
[22]侯祥林,徐心和.单摆非线性系统阻尼参数的研究.2007中国控制与决策学术年会论文集.沈阳建筑大学,东北大学,2007：13页-15页
[23]Yao G.Z, Meng G. Parameter estimation and damping performance of electro-heological damper. J. of Sound and Vibration.1997,204(4):575-584
[24]商大中.动力学分析基础.哈尔滨工程大学出版社.1999
[25]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)
[26]刘海丽.基于AMESim的液压系统建模与仿真技术研究.西北工业大学硕士论文.2006
[27]金蓓.波浪补偿起艇绞车.机电设备.2006：(04)
[28]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)
[29]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)
[30]张凤.高海况救助设备系统电液控制技术研究.同济大学硕士学位论文.2006
[31]廖永.波浪补偿起艇绞车的研究.大连海事大学硕士学位论文.2010
[32]贾铭新.液压传动与控制.国防工业出版社,2001：122-127页
[33]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
[34]赵彦玲,吴淑红.MATLAB与SIMULINK工程应用.电子工业出版社.2002
[35]黄永安,马路,刘慧敏.MATLAB 7.0/Simulink 6.0建模仿真开发与高级工程应用.清华大学出版社.2005：13-24页
[36]李友善.自动控制原理.第三版.国防工业出版社.2005：157页-292页
[37]张汉全,肖建,汪晓宁.自动控制理论新编教程.西南交通大学出版社.2000：208页-211页
[38]刘金琨.先进PID控制Matalab仿真.电子工业出版社,2004：33页-69页
[39]马宁,孔红.S7-300PLC和MM440变频器的原理与应用.机械工业出版社,2007：1页-7页
[40]柴瑞娟,孙承志等.西门子PLC高级培训教程.人民邮电出版社.2009
[41]胡建.西门子PLC应用教程.机械工业出版社.2007
[42]黄建春.PLC工控系统设计及其在自来水控制中的应用.湖南大学工程硕士学位论文.2005
[43]王春亭.基于PLC采矿场生产设备监控管理系统的研究与开发.安徽理工大学硕士学位论文,2008
[44]姚来福,张艳芳等.电气自动化工程师速成教程.机械工业出版社.2009
[45]张海鹏.升力反馈减摇鳍系统的研究与随动系统的改造.哈尔滨工程大学硕士论文.2002