A Retractable Storage Device Based on Depth Compensation Control Algorithm

Abstract

The invention discloses a retrieving and releasing storage device based on a deep sink compensation control algorithm. The device comprises a winch, a retrieving and releasing platform, a tension-damping self-adaptive hydraulic system and a tension-deep sink feedforward compensation control system, wherein the tension-damping self-adaptive hydraulic system is composed of a winch driving hydraulicmotor, a proportional overflow valve connected to the winch driving hydraulic motor in parallel and a proportional throttling valve connected to an oil supply loop of the winch driving hydraulic motorin series, and the tension-deep sink feedforward compensation control system is composed of a depth control main loop, a tension compensation control loop and a deep sink period feedforward compensation loop. According to the storage device, the depth control main loop takes the depth as the reference quantity, the tension compensation control loop takes the tension as the reference quantity, thedeep sink period feedforward compensation loop takes the lifting amplitude as the reference quantity, so that the proportional overflow valve is controlled so as to adjust the system retrieving and releasing tension, the deep sink period feedforward compensation loop controls the proportional throttling valve by taking the lifting phase as the reference quantity so as to adjust the system dynamicdamping, the winch driving hydraulic motor is controlled to drive the winch to perform the retrieving and releasing operation, the depth of a towed object is stabilized, and the tension fluctuation of a towing cable is reduced.

Description

technical field [0001] The invention relates to the technical field of marine engineering machinery, in particular to a retractable storage device based on a depth compensation control algorithm. Background technique [0002] The retractable storage device is one of the most widely used equipment in marine engineering equipment, and plays an important role in the process of national defense, scientific research and civil construction. The retractable storage device has the functions of releasing the towed object into seawater, towing in the water, and recovering the towed object to the working platform. For the retractable storage device, the most important thing is to ensure the safety of the towed object, stably control the depth of the towed object in the water, and control the tension of the tow cable to avoid damage to the tow cable or excessive impact resulting in damage to the retractable storage device. [0003] The towed object in marine engineering is determined a...

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Problems solved by technology

[0004] Since the recovery and release platform working in the ocean environment rises, falls, and drifts with the waves on the sea surface, the fluctuation of the ocean waves during the recovery, release, and towing process causes great tension fluctuations in the tow cable, resulting in the depth position of the towed object. It also follows the waves with large ups and downs, which affects the measurement and observation results

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