某油缸式主动波浪补偿系统的动态特性分析

摘要

The mechanical,electric and hydraulic coupling simulation model of hydraulic cylinder active heave compensa-tion system was set up,including hydraulic components,pneumatic components,mechanical transmission components and control arithmetic.Based on this simulation model,the influence factors were studied including the load mass and rope length.The com-pensation characteristic of hydraulic cylinder active heave compensation system was studied in the real wave condition, and the principle of the time to switch to active heave compensation model was found.The influences of the error of MRU sense and the error of nitrogen pressure control to compensation precision were studied.This item can help to improve the control characteristic of hydraulic cylinder active heave compensation System.%基于AMSim仿真平台建立包括液压元器件、气动部件、机械传动部件,以及控制算法在内的油缸式主动波浪补偿系统的机液耦合仿真模型,分析被吊货物质量、吊重钢丝绳长度、主动波浪补偿模式开启时刻,MRU传感器误差等因素对主动波浪补偿吊机补偿系统动态特性的影响,结果表明,在控制方式和外界条件相同的条件下,而货物质量不同时,补偿响应速度和精度的差别很小;钢丝绳长度对补偿精度的影响可以忽略;从非波浪补偿模式切换至波浪补偿模式时,在升沉运动的零位置切换至主动波浪补偿模式切换更平稳快速;提高MRU传感器和气瓶压力传感器精度对补偿精度有利.