Real-time Compensation Method for Given Speed of Marine Winch Active Heave Compensation Electric Drive System
A technology of given speed and heave compensation, applied in the direction of hoisting device, spring mechanism, etc., can solve the problem of insurmountable compensation deviation, deviation, etc.
Active Publication Date: 2022-03-22
HUNAN UNIV OF SCI & TECH
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[0004] However, at present, the given speed of the marine winch electric drive system is obtained by collecting the output signal of the acceleration sensor placed on the mother ship and performing related processing. Due to the influence of signal acquisition error, data processing delay and various interferences, the above given There will always be a certain deviation between the speed and the actual speed of the heave motion of the mother ship; if the active heave compensation control of the marine winch only implements speed control for the given speed, no matter what control method is used, it cannot overcome the given speed. The compensation deviation caused by inaccurate speed, and the existing various control methods have not solved the source of the compensation deviation
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[0036] The present invention will be further specifically described below in conjunction with the accompanying drawings and embodiments.
[0037] See Figure 1~3 ,according to figure 1 The steps shown are to calculate the compensation for the initial given speed of the transmission motor in the active heave compensation control system of the marine winch:
[0038](1) Using Matlab / Simulink software to build a simulation model of the active heave compensation control system of the switched reluctance motor driven marine winch. Assuming that the heave motion of the mother ship changes according to the sinusoidal law, the relevant parameters are set as follows: the heave motion period of the mother ship is T=5s, the heave motion amplitude is A=2m, the load mass is m=1kg, and the sampling period is T s = 0.05s; the transmission motor takes a switched reluctance motor as an example, and its main parameters are shown in Table 1:
[0039] Table 1 Main parameters of switched relucta...
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The invention discloses a real-time compensation method for a given rotational speed of an active heave compensation electric transmission system of a marine winch, specifically: obtaining the rotational speed corresponding to the transmission motor and the heave motion cycle of the mother ship through the detected instantaneous acceleration of the heave motion of the mother ship; Detect the instantaneous torque of the transmission motor in real time, calculate the average torque of the transmission motor in the current heave motion cycle; at the same time detect the instantaneous torque of the transmission motor in the current sampling period in real time, and obtain the torque deviation of the transmission motor in the current sampling period ;Calculate the speed compensation value of the transmission motor in the current sampling period, compensate the initial given speed of the motor in the current sampling period, and obtain the given speed of the transmission motor after compensation in the current sampling period; implement high-performance speed regulation control on the transmission motor, By making its actual speed accurately track its given speed, the high-precision synchronous control target of the active heave compensation control of the marine winch can be achieved. The invention has the characteristics of simple principle, good compensation effect and the like.
Description
technical field [0001] The invention relates to the field of active heave compensation control of a marine winch, in particular to a real-time compensation method for a given rotational speed of an electric drive system for active heave compensation of a marine winch. Background technique [0002] The marine winch is an important retractable equipment for marine scientific research and marine resource exploration and development. Due to the strong nonlinear interference of wind, wave and current, the marine winch will make violent heave movements with the mother ship, which not only seriously affects the normal operation of marine engineering or the normal work of underwater facilities, but also has a huge impact on the retraction and release of cables by the winch. The force even causes it to break. Therefore, it is of great significance to research and develop corresponding active heave compensation functions for marine winches to compensate for the adverse effects of mot...
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IPC IPC(8): B66D1/48B66D1/28
Inventor 张小平严颖赵延明黄良沛刘德顺
Owner HUNAN UNIV OF SCI & TECH