船用起重机升沉补偿系统分析

Analysis on Heave Compensation System of Ship-mounted Crane

为了减少船用起重机在海上作业时风浪对吊装的影响,延长海上作业时间,介绍了一种船用起重机的升沉补偿系统。在LMS.AMESim软件平台上建立了系统的仿真模型,通过仿真对比分析了4种模式下系统的动态性能,同时运用Design Exploration优化工具箱对PID控制器参数进行了自动优化,结果表明:被动升沉补偿模式下钢丝绳张力变化最小,主动-被动升沉补偿模式下比例阀有死区补偿时能够消除94%的船体升沉运动对载荷的影响,而无死区补偿只能达到84%。最后将仿真得到的优化控制参数应用于试验装置的控制之中,减少了试验装置的调整时间,得到了比较好的试验结果。

In order to reduce the impact of wave to the ship-mounted crane during ottshore operation under rough weather conditions and extend its period of work time, a set of heave compensation system was developed for ship- mounted crane. The system simulation model was built by using LMS. AMESim software and its dynamic perform- ances were obtained by simulating four kinds of models respectively, and the parameters of PID controller were au- tomatically optimized by using the optimization toolbox of design exploration. The results indicated that the fluctua- tion of wire tension force was the least under passive heave compensation model ; 94% impact of ship heave motion to load was eliminated with dead band compensation for the proportional valve in active-passive heave compensation model; however only 84% without dead band compensation. By using optimal simulation parameters to controller of test equipment, less regulation time and more consistent results were derived.