海上作业起重机主动升沉补偿系统的设计与分析

摘要

To compensate the heave motion of the ship ’s crane during marine operation,the crane’s hydraulic driving system was constructed based on the secondary regulated hydrostatic drive technology.Firstly,a full mathematic model of the heave compensation system was presented.A tri-ple closed-loop control structure was proposed,which included the position closed-loop of the stroke cylinder fixed in the secondary unit,the speed closed-loop of the secondary regulated hydraulic motor and the position closed-loop of the secondary regulated hydraulic motor.Afterwards,a simple design method was proposed to ascertain the three controllers’parameters.In order to obtain the position of the crane’s cargo,an observer was designed to estimate this state by using the wire rope tension. Lastly,a design example for the active heave compensation was provided.The dynamic characteristics of the heave compensation system were analyzed from the frequency domain standpoint by numerical simulations,which helpes lay a foundation for control strategy research.%为补偿船用起重机在海上作业时的升沉运动，构造了基于二次调节静液传动技术的绞车液压驱动系统。首先，建立了升沉补偿系统的完整数学模型，提出了包含二次单元变量油缸位置环、二次单元马达速度环及二次单元马达位置环的三闭环控制结构。然后，给出了三闭环控制器的设计方法，为了得到起重机货物的位移，利用钢丝绳张力设计了状态观测器。最后，给出了一个设计实例，通过数字仿真从频域角度分析了升沉补偿系统的动态特性，为控制策略的研究打下基础。