Synchronous control method based on parallel movement of multiple hydraulic cylinders of heave compensation platform

Abstract

The invention discloses a synchronous control method based on parallel movement of multiple hydraulic cylinders of a heave compensation platform. The synchronous control method comprises the following steps that a mathematical model of an electro-hydraulic servo valve controlled asymmetric hydraulic cylinder system is established; a predictive controller is designed based on the established mathematical model, an optimal control law is obtained, and a single electro-hydraulic servo channel is controlled to achieve accurate position tracking; and a synchronous compensation controller is designed based on the predictive controller in combination with an annular coupling control strategy, synchronous errors among six hydraulic cylinders are compensated, and synchronous control over multiple electro-hydraulic servo valve controlled asymmetric cylinder channels is achieved. Position control over the single electro-hydraulic servo valve control asymmetric cylinder channel and synchronous control over multiple electro-hydraulic servo valve control asymmetric cylinder channels are achieved, the position control precision and synchronous control performance of the system are improved, and it is guaranteed that the heave compensation platform operates stably to compensate irregular movement of a ship.

Description

technical field [0001] The invention relates to the field of multi-cylinder synchronous control, in particular to a synchronous control method based on the parallel movement of multiple hydraulic cylinders of a heave compensation platform. Background technique [0002] At present, the design life of my country's offshore wind farms is generally 25 years. For coastal wind farms, the sea conditions are relatively stable. For offshore wind farms, when operating at sea, movement with six degrees of freedom of rolling, pitching, yaw, sway, surge, and heave is unavoidable due to the action of sea wind and waves. It will affect the stable operation of the offshore wind farm and prolong the working time between the wind turbine platform and the ship. The six-degree-of-freedom heave compensation platform equipped with a gangway can effectively isolate the movement on the carrier and provide a relatively stable working platform. It is very important to study how to make the platform...

AI Technical Summary

Problems solved by technology

At present, it is widely used in multi-motor synchronous control systems, but less engineering applications are used in electro-hydraulic servo systems;

[0005] 2. The basic principle of the multi-cylinder synchronous electro-hydraulic servo control system used in engineering is not much different. The performance of the electro-hydraulic servo valve has a great influence on the system performance, and the accuracy of the synchronization system is limited by the components to a certain extent. characteristics

[0006] 3. Multi-cylinder synchronous control not only has problems such as large overshoot, low synchronization accuracy in the transition process, and low system reliability, but also has effects such as nonlinearity, parameter uncertainty, and model uncertainty in the electro-hydraulic servo system.

Images