深海采矿升沉补偿系统非线性仿真模型的建立和试验

Experiments and Modeling of Nonlinear Simulation Model of Heave Compensation System for Deep-sea Mining

利用Simulink软件和功率键合图建立了深海采矿主动型升沉补偿系统的仿真模型 ,该系统保留了非线性因素、无需编程、具有图形化的用户界面、物理意义强、仿真参数的修改和仿真结果的观察处理方便等优点。升沉补偿模拟系统的仿真结果和试验结果具有较高的一致性 ,表明该系统的非线性仿真模型是准确的。

This paper established the nonlinear simulation model of the active heave compensation system for deep-sea mining by means of the software,simulink,and the power bond graph. The advantages of the simulation model are as follows: retaining nonlinear factors,needing no programming, having graphical user interfaces and strong physical meaning, being very convenient to change its simulation parameters and to watch and deal with its simulation results. There is very high consistency between the simulation results and the experiment resultal of the heave compensation model system. So it is indicated that the nonlinear simulation model established in this paper is correct. A new effective medhod is provided to research all-sidedly the dynamic/static characteristics of the heave compensation system.