船舶起重机半主动升沉补偿控制特性研究

Semi-active Heave Compensation Control Character of Ship Crane

针对大吨位波浪补偿系统响应滞后导致的位置补偿不足的问题,提出船舶起重机半主动升沉补偿系统补偿控制方法,即当系统工作于半主动升沉补偿工况时,采用多状态反馈的复合控制方法实现对负载升沉运动的高精度补偿,建立复合液压缸、活塞蓄能器、比例阀组成的补偿控制系统数学模型,并考虑速度、加速度反馈和船舶升沉速度前馈,进行仿真与实验分析,得到不同负载、运动幅值、运动周期条件下系统位置补偿控制的响应特性,验证了船舶起重机半主动升沉补偿控制方法的有效性。

Aimed at the position compensation deficiency due to the responding lag of the heavy heave compensation system,the semi-active heave compensation control method for the ship crane is presented. Namely,when the system works in the state of semi-active heave compensation,a high precise compensation is achieved by the multimode feedback compound control method. The mathematical model of compensation control system,which consists of the compound cylinder,the piston accumulator and the proportional valve,is established. Considering the velocity and acceleration feedback and the heave velocity feed-forward of the ship,we conduct the simulation and experiment study. The position compensation control response characteristics are obtained under the different loads,motion amplitudes and motion cycles. The semi-active heave compensation control method is verified in the ship crane.