Study on Active Heave Compensation System of Deep-sea Mining Based onDynamic Vibration Absorber and Its Feedback Control

摘要

Heave compensation system is necessary for the safety and thernproduction efficiency as well as the component lifetime of the deep-searnmining system. Traditional heave compensation systems is a passivernshock-absorbing system employing accumulator and high pressure airrnsystem, heave compensator cylinders, make-up units and so on, whichrnneed a much bigger shipboard space. To isolate the long lift pipelinernwith several thousand meters from the bending load induced by thernirregular wave with reasonable deck space and energy consumption , arnnovel active heave compensation system of deep-sea mining based onrndynamic vibration absorber was proposed in this paper. The dynamicrnmodels of the active heave compensation system with hydraulicrnactuator are established to investigate the performance of the activernheave compensation system. And the feedback control was applied forrnthe heave compensation system for increased effectiveness over a widerrnfrequency band. The performance and the response of the proposedrnsystem with hydraulic actuator were simulated in time domain andrnfrequency domain. The result shows that the active heave compensatorrnbased on dynamic vibration absorber with feedback controller can havernthe best performance of heave compensation and it is practical tornisolate the lift pipe and its support platform from the ship motionrninduced by the irregular wave.