深水起重设备水下负载特性及控制策略研究

发布时间：2018-05-02 14:51

本文选题：起重机 + 垂直绳索系统　；参考：《大连海事大学》2015年硕士论文

【摘要】：随着全球对海底油气资源的开发利用向深海的范围扩展,深水起重机已逐渐成为海洋工程作业中的关键装备之一。在进行水下生产系统的安装时,由于深海的复杂海况,吊装钢缆所受到的载荷以及由于船舶和环境扰动造成的系统随机运动让水下生产系统的安装难度大大增加。这些负面的影响增加了吊装作业的工作时间,加大了在恶劣海况下作业的风险。为了让深水起重作业更加安全和高效,有必要对深水起重机负载特性进行研究。本文采用理论研究、计算机建模与仿真相结合的研究方法对起重机的负载特性以及波浪补偿控制策略进行研究。主要的研究工作为建立吊装钢缆、吊重物、船舶运动的数学模型,得到了吊装钢缆的二阶运动微分方程；用Matlab中的Simulink工具箱完成了模型的仿真工作,得到了500m和2000m长的钢丝绳在波浪的扰动下的弹性伸长量时变曲线,并由此计算出吊物在深水中的位移曲线。使用有限元分析软件ANSYS对起重机绳索系统进行结构建模。与前文搭建的数学模型仿真结果相比,最后得到的吊物的位置变化曲线非常接近。在没有做实验的情况下,最大程度的证明了两个模型搭建的准确性与可信性。最后,选用了PID作为控制策略,并对控制策略进行了Simulink仿真；仿真结果表明：采用PID控制策略后吊物位移曲线的超调量明显减少,吊物在垂直维度的偏移量降低了约49%。
[Abstract]:With the development and utilization of submarine oil and gas resources in the world, deep water cranes have gradually become one of the key equipment in marine engineering. During the installation of underwater production system, the installation difficulty of underwater production system is greatly increased due to the complex sea conditions in the deep sea, the load of hoisting steel cable and the random motion of the system caused by ship and environment disturbance. These negative effects increase the working hours of hoisting operations and increase the risk of operating under adverse sea conditions. In order to make deep water crane more safe and efficient, it is necessary to study the load characteristics of deep water crane. In this paper, theoretical research, computer modeling and simulation are used to study the load characteristics of crane and wave compensation control strategy. The main research work is to establish the mathematical model of hoisting steel cable, lifting heavy object and ship motion, and get the second order motion differential equation of hoisting steel cable, and finish the simulation work of the model with Simulink toolbox in Matlab. The time-varying elastic elongation curves of 500m and 2000m long wire ropes under wave disturbance are obtained, and the displacement curves of suspended objects in deep water are calculated. The finite element analysis software ANSYS is used to model the crane rope system. Compared with the simulation results of the previous mathematical model, the position change curve of the suspended object obtained is very close. In the absence of experiments, the accuracy and credibility of the two models are proved to the greatest extent. Finally, PID is selected as the control strategy and the control strategy is simulated by Simulink. The simulation results show that the overshoot of the displacement curve of the suspended object is obviously reduced and the deviation of the suspended object in the vertical dimension is reduced by about 49.9% after using the PID control strategy.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U674.35

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