[1]严 允,朱迎谷,罗凌波.基于电- 液混合控制波浪补偿装置的起吊系统仿真研究[J].控制与信息技术(原大功率变流技术),2018,(03):6-10.[doi:10.13889/j.issn.2096-5427.2018.03.002]
 YAN Yun,ZHU Yinggu,LUO Lingbo.Simulation Research of the Lifting System Based on Electro-hydraulic Hybrid Controlled Heave Compensation Device[J].High Power Converter Technology,2018,(03):6-10.[doi:10.13889/j.issn.2096-5427.2018.03.002]
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基于电- 液混合控制波浪补偿装置的起吊系统仿真研究()
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《控制与信息技术》(原《大功率变流技术》)[ISSN:2095-3631/CN:43-1486/U]

卷:
期数:
2018年03期
页码:
6-10
栏目:
控制理论与应用
出版日期:
2018-06-05

文章信息/Info

Title:
Simulation Research of the Lifting System Based on Electro-hydraulic Hybrid Controlled Heave Compensation Device
文章编号:
2096-5427(2018)03-0006-05
作者:
严 允朱迎谷罗凌波
(上海中车艾森迪海洋装备有限公司,上海 201306)
Author(s):
YAN Yun ZHU Yinggu LUO Lingbo
( CRRC SMD Shanghai Ltd., Shanghai 201306, China )
关键词:
波浪补偿布放回收系统电- 液混合控制数学建模
Keywords:
heave compensation launch and recover system (LARS) electro-hydraulic hybrid control mathematical modeling
分类号:
U664.2
DOI:
10.13889/j.issn.2096-5427.2018.03.002
文献标志码:
A
摘要:
设计了一种用于有缆水下机器人起吊系统的波浪补偿装置,其将传统的绞车转轴和绞盘固定连接的方式改成通过若干液压马达和电机将绞车转轴力矩传输到绞盘的方式,通过调节电机和液压马达输出力矩实现波浪补偿控制,不仅结构简单、操作方便,而且不增加甲板安装面积。通过合理建模假设和数学推导,建立了该起吊系统的简化数学模型。仿真结果表明,该数学模型能够准确描述起吊系统在规则波浪情况下的运动过程,且对应的波浪补偿装置能够在一定范围内减弱作用在吊装线缆的张紧力变化的剧烈程度,从而削弱了波浪对水下机器人运动的影响。
Abstract:
It developed an innovative heave compensation system (HCS) for remotely control vehicles (ROV), which changes the traditional fixed mechanical joint between shaft of drum and winches into a movable mechanical connection through many gears driven by electrical motors or hydraulic motors. By regulating the torques of these motors, the HCS can reduce the shocking force on cable caused by waves. The HCS has the following advantages including simple structure, easy operation, and suitability for limited mounting area. Based on reasonable modeling assumptions and mathematical deductions, a reduced mathematic model for the HCS was built. Simulation results of the mathematic model demonstrate that the model can illustrate the movements of HCS accurately, and the HCS can reduce the changing severity of pull forces acting on umbilical, which can relieve shocking forces caused by waves.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2018-03-07
作者简介:严允(1977-),男,高级工程师,主要从事机械液压系统设计、水下机器人总体设计和产品研究开发工作。
基金项目:国家重点研发计划(2016YFC0304104)
更新日期/Last Update: 2018-06-26