深水铺管船A&R绞车控制系统概念设计

Research on the conceptual design of A & R winch control system for deepwater pipelaying vessel

在分析了现有深水铺管船A&R绞车控制系统组成及原理的基础上,提出以外环张力自适应模糊控制及内环速度PID控制相结合的方式,通过外环自适应模糊控制器实时修改并匹配内环速度PID控制器比例、积分及微分系数的策略,优化设计了电驱A&R绞车控制系统,改善了系统响应速度及鲁棒性。并基于Vacon变频器和Siemens PLC,采用AFE共直流母线技术,以Profibus DP总线形式完成了控制系统硬件实现方案,为深水铺管船A&R绞车国产化提供了一定的指导作用。

The configuration and principle of A ＆ R winch control systems on the deepwater pipelaying vessel are analyzed in this paper, based on which a novel control system consisting of external tension close＆loop adaptive fuzzy control and internal speed closed-loop PID control is proposed. In the winch, the proportional, integral and differential coofiqcients of the internal speed closed-loop PID controller being real-time modified and matched by the external adaptive fuzzy controller, the response speed and robustness of the system are improved. Besides, the control system adopting AFE common DC bus technology and Profibus DP is developed by authors using Vacon frequency converters and Siemens PLC. The control system designed is of certain guidance for the localization of A ＆ R winch on deepwater pipelaying vessel.