CN114014179B - Sliding mode control method of active heave compensation system of electrically-driven marine winch - Google Patents
Sliding mode control method of active heave compensation system of electrically-driven marine winch Download PDFInfo
- Publication number
- CN114014179B CN114014179B CN202111389775.9A CN202111389775A CN114014179B CN 114014179 B CN114014179 B CN 114014179B CN 202111389775 A CN202111389775 A CN 202111389775A CN 114014179 B CN114014179 B CN 114014179B
- Authority
- CN
- China
- Prior art keywords
- motor
- motion
- winch
- heave
- mother ship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000006870 function Effects 0.000 claims abstract description 41
- 238000012546 transfer Methods 0.000 claims abstract description 20
- 238000013016 damping Methods 0.000 claims abstract description 15
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000008878 coupling Effects 0.000 claims abstract description 8
- 238000010168 coupling process Methods 0.000 claims abstract description 8
- 238000005859 coupling reaction Methods 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 110
- 238000006073 displacement reaction Methods 0.000 claims description 41
- 238000004804 winding Methods 0.000 claims description 10
- 230000004907 flux Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 239000013535 sea water Substances 0.000 claims description 3
- 238000011161 development Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract 1
- 238000004088 simulation Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 239000002131 composite material Substances 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005284 excitation Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/52—Floating cranes
- B66C23/53—Floating cranes including counterweight or means to compensate for list, trim, or skew of the vessel or platform
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a sliding mode control method of an active heave compensation system of an electric driven marine winch, which takes actual measurement sea test data and the actual working state of the electromechanical system of the electric driven marine winch as key points, reasonably simplifies a coupling system model of an operation mother ship, a cable and underwater equipment, comprehensively considers the problems of the actual operating state of the electromechanical system, torsional viscous damping of a motor shaft, equivalent torsional rigidity of the motor shaft and the like during the active heave compensation of the electric driven marine winch, deduces transfer functions of the marine winch in different operating states during the active heave compensation process, weakens the system shake problem generated during the switching of the operating state of the electromechanical system by combining a sliding mode variable structure control algorithm, improves the compensation precision and robustness of the active heave compensation system of the electric driven marine winch, accelerates the development period of the active heave compensation system, and provides reference basis for the development and development of a subsequent system.
Description
Technical Field
The invention relates to a sliding mode control method of an active heave compensation system of an electrically driven marine winch.
Background
The marine winch is mainly applied to the retraction work of deep sea resource development equipment, ROV systems, underwater towing systems and the like, the marine winch is fixed on the deck of a working mother ship, the deep sea equipment establishes a connection relation with the marine winch through a cable, and when underwater operation is carried out, the ship body can be caused to present complex motion with six degrees of freedom after the working mother ship is influenced by wave motion, so that the deep sea equipment deviates from an ideal working position under the traction action of the cable, and serious influence is generated on the operation precision of the marine winch. The marine winch with the active heave compensation technology can effectively reduce the influence of the sea wave motion on the operation precision and safety of the winch, and guarantee the underwater accurate positioning of deep sea equipment. At present, how to improve and enhance the compensation precision of the active heave compensation system is a technical bottleneck problem that needs to be solved in the industry.
Patent CN207861731U discloses an experimental device for anti-sway and heave compensation of a marine crane, and introduces a method for simulating six-degree-of-freedom ship motion by using a ship motion simulation platform, and reducing sway of goods in a hoisting process by using a crane hoisting mechanism and an anti-sway mechanism, so as to realize heave compensation. According to the method, six-degree-of-freedom ship motion is simulated by using the simulation platform, so that the limitation of a traditional wave formula is overcome to a certain extent, but the complex sea wave motion is simulated by using the ship simulation platform, so that the method can still continue to strengthen in the objectivity aspect of the wave motion law.
Patent CN201510960097.5 discloses a control method for active heave compensation of deep sea equipment, which introduces a control method for performing difference operation on data based on data collected by an inertial measurement sensor and a cable displacement sensor, performing online calculation on the difference by using a fuzzy PID control algorithm, and obtaining an output signal. However, in the method, a hydraulic driving winch is adopted, so that the heave compensation control system of the hydraulic driving winch has the defects of larger time lag and the like, the fuzzy PID control cannot obtain quick system response in the system with larger time lag, and the acting effect is greatly limited.
Patent CN201510230504.7 discloses an electric active heave compensation winch system, which introduces a feedback control method for actively predicting motion parameters of a ship in a short period in the future based on historical data and real-time detected ship heave motion data, calculating feedforward control of ship motion speed prediction, and simultaneously calculating feedback control of relative speeds of a load and the ship and position drift. On one hand, the feedforward prediction controller related in the method adopts a PID controller based on a BP neural network, the displacement feedback controller adopts a fuzzy PID controller, and although the composite control strategy has a certain effect on improving heave compensation precision, the PID control method is adopted to weaken the positive effect brought by the composite control strategy to a certain extent, and the composite control strategy increases the calculated amount of the system, improves the algorithm complexity of the system and is difficult to realize in practical engineering application. On the other hand, the technical document does not consider the specific situation of the motor in terms of the specific working state of the motor when the motor is dragged, and does not describe how to realize the four-quadrant operation of the motor.
In view of the foregoing, there is a need for a sliding mode control method that considers both the actual wave motion and the four-quadrant running operation of the motor, and introduces an advanced control algorithm to reasonably control the active heave compensation process so as to improve the heave compensation accuracy thereof.
Disclosure of Invention
In order to solve the technical problems, the invention provides the sliding mode control method of the electric drive marine winch active heave compensation system, which can reflect the real working state of the motor in the active heave compensation process, has strong robustness of a control algorithm and high heave compensation precision.
The technical scheme for solving the problems is as follows: a sliding mode control method of an active heave compensation system of an electrically driven marine winch comprises the following steps:
step one: measuring by using a ship attitude instrument to obtain mother ship heave motion data, processing by fast Fourier transform to obtain mother ship heave motion data frequency domain information, and establishing a time domain function for representing mother ship heave motion data sample rules;
step two: simplifying an operation mother ship-cable-underwater equipment coupling system, and further deducing transfer functions of the underwater equipment motion displacement to the mother ship heave motion displacement and the marine winch drum rotation angle respectively;
step three: according to the speed regulation principle of a three-phase asynchronous motor speed regulation system, an electric driving marine winch active heave compensation system is combined, and a multi-motor dragging working mode is adopted to build a three-phase asynchronous motor speed regulation system model;
step four: comprehensively considering the real working state of an electromechanical system, the viscous damping of a motor shaft and the torsional rigidity factor influence of the motor shaft of an electric drive marine winch active heave compensation system in the process of lifting and lowering a load, and deducing a dragging equation under the condition that the motor is in a four-quadrant switching state;
step five: the method comprises the steps of designing a self-adaptive nonsingular terminal sliding mode controller, taking a forward and backward movement displacement deviation value and the change rate of the forward and backward movement displacement deviation value of underwater equipment as input signals, wherein the output signals are motor control signals of an electric driving marine winch, and controlling the steering of the motor and the rotating speed of the motor, so that an active heave compensation system of the marine winch is controlled.
The sliding mode control method of the active heave compensation system of the electrically driven marine winch comprises the following specific steps:
(1-1) measuring the heave motion of the mother ship by using a ship attitude instrument, taking the measurement time t as an abscissa, taking the amplitude y of the heave motion of the mother ship as an ordinate, and storing the amplitude y as a table file;
and (1-2) importing the table file in the step (1-1) to a Matlab working space in a mode of naming a data numerical matrix, and running a program section related to a fast Fourier transform method to obtain a mother ship heave motion data frequency domain amplitude-frequency curve graph and a mother ship heave motion data time domain function fitting curve graph.
According to the sliding mode control method of the active heave compensation system of the electrically driven marine winch, the heave motion data of the mother ship in the first step are obtained through the acquisition of the marine attitude instrument under the four-level sea condition, wherein the marine attitude instrument acquires the heave motion data of the mother ship every 0.1s for 20 seconds; the mother ship heave motion data frequency domain information comprises amplitude information and phase information in a data sample frequency domain.
In the second step, the mother ship-cable-underwater equipment coupling system is simplified into a mass-spring-damping system, and the motion equation of the simplified system is expressed as:
wherein m is equivalent load mass; c is sea water damping systemA number; k is the elastic rigidity coefficient of the cable; y (t) is the underwater load motion displacement; y is 0 (t) the displacement of the mother ship in heave motion; r is the radius of the roller; θ is the rotation angle of the roller; g 0 Compensating for heave dead load;
the transfer functions of the motion displacement of the underwater equipment to the heave motion displacement of the mother ship and the rotation angle of the roller are respectively as follows:
where s represents the variable in the transfer function obtained by the laplace transform, representing the transformation of the time variable t into a complex frequency variable.
In the third step, the asynchronous motor voltage equation of the three-phase asynchronous motor speed regulating system based on the rotor flux linkage directional synchronous rotation coordinate is as follows:
wherein: l (L) m Is the mutual inductance coefficient between the stator equivalent winding and the rotor equivalent winding, L r U is the self-inductance coefficient of the rotor equivalent winding sd Representing the component of the stator voltage on the d-axis, U sq Is the component of the stator voltage on the q-axis; r is R s Is a stator resistor; l (L) s Is stator leakage inductance; r is R r Is rotor resistance; i.e sd Representing the component of the stator current in the d-axis, i sq Representing the component of the stator current on the q-axis, i rd Representing the component of the rotor current in the d-axis, i rq Representing the component of rotor current on the q-axis, ω s The synchronous angular velocity of the motor is delta omega, slip angular velocity and p is the pole pair number of the motor;
and combining a motor torque equation, and carrying out transformation solving on an asynchronous motor voltage equation to obtain:
in the psi- r The magnetic flux is motor rotor flux linkage, and sigma is motor leakage inductance coefficient.
In the fourth step, when the underwater equipment is lifted, the winch multi-shaft dragging motion equations when the motor is in a forward electric state and a forward reverse braking state are respectively as follows:
wherein: t (T) e Outputting torque for the motor; t (T) L Equivalent torque for load; GD (graphics device) 2 Equivalent flywheel moment for the rotating part; n is the motor rotation speed; c is motor shaft torsional viscous damping; k is the equivalent torsional rigidity of the motor shaft;
in the lower water-discharging equipment stage, namely, the winch multi-shaft dragging motion equation when the motor is in a reverse electric state, a feedback braking state and a reverse braking state is respectively as follows:
load equivalent torque T L The method comprises the following steps:
wherein: i is the total gear ratio;
from this, the transfer functions of the drum rotation angle of the motor in each different working quadrant for the motor torque in the lifting underwater equipment stage and the lowering underwater equipment stage are obtained respectively:
in the formula (8), the first formula corresponds to the motion equation of the ocean winch electromechanical system when the forward running motion of the asynchronous motor is in a first quadrant and the forward electric state, the second formula corresponds to the motion equation of the ocean winch electromechanical system when the forward running motion of the asynchronous motor is in a second quadrant and the reverse braking state, the third formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in a third quadrant and the reverse electric state, the fourth formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in a fourth quadrant and the feedback braking state, and the fifth formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in the fourth quadrant and the reverse braking state.
According to the sliding mode control method of the active heave compensation system of the electrically-driven marine winch, the real working states of the motor in the fourth step comprise five states, namely a forward electric state, a forward reverse braking state, a reverse electric state, a feedback braking state and a reverse braking state, wherein each motor working state represents a transfer function of a motor corner to motor torque in a subsystem.
According to the sliding mode control method of the active heave compensation system of the electrically driven marine winch, the self-adaptive nonsingular terminal sliding mode controller in the fifth step is a control algorithm which switches the magnitude and sign of the control quantity in an ideal switching mode, so that the system moves back and forth in the adjacent area of the switching line and finally slides along the switching line, the motor rotation speed reaches a given rotation speed, and shake is generated when the motor working state is switched;
definition of motor rotational speed error e=ω * Omega and its derivativeAs a state variable, the sliding mode function S and the variable K w The design is as follows:
wherein c w A constant greater than 0, J being the moment of inertia;
in order to meet the stability condition of sliding mode control and enable the control to quickly approach the sliding mode surface, an exponential approach law constraint control function u is adopted:
wherein sgn(s) is a sign function, η and k h All are undetermined coefficients, eta>0,k h >0。
The invention has the beneficial effects that:
1. the invention utilizes the data acquired by the ship attitude instrument in actual sea trial instead of adopting an empirical formula to approximate the sea or simulate the complex sea wave by using a simulator, and has stronger objectivity.
2. The control method related by the invention is an active heave compensation control method of the electrically driven marine winch, and has the advantages of convenient control, high response speed and the like compared with the traditional hydraulic winch main/passive heave compensation system.
3. The modeling method in the aspect of motor dragging not only considers influencing factors such as torsional rigidity and damping of a motor shaft when the motor works, but also considers the four-quadrant working state of the asynchronous motor into a winch multi-shaft transmission system, so that modeling is more realistic and objective.
4. Compared with the traditional control algorithm, the self-adaptive nonsingular terminal sliding mode control algorithm has the characteristics of simple control, strong robustness, high control precision, strong practicability and the like, and can effectively reduce system shake caused by switching of the working state of an asynchronous motor in an electromechanical system.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a frequency domain amplitude-frequency plot of heave motion data for a mother vessel.
FIG. 3 is a graph of time-amplitude plot of heave motion data for a parent vessel.
Fig. 4 is a graph of a time domain function fit of heave motion data of a mother vessel.
Fig. 5 is a schematic diagram of an active heave compensation structure of an electrically driven marine winch.
Fig. 6 is a control schematic block diagram of an electrically driven marine winch active heave compensation system.
Fig. 7 is a block diagram of a three-phase asynchronous motor vector speed regulating system.
Fig. 8 is a diagram of motor work machine characteristics during active heave compensation when the motor is lifted and lowered to the water installation.
FIG. 9 is a simulation model diagram of an electrically driven marine winch active heave compensation control system.
Fig. 10 is a load displacement versus time graph for a cable run length of 2000 m.
Fig. 11 is a graph of motor speed versus time for a cable run length of 2000 m.
Fig. 12 is a graph of motor torque versus time for a cable run length of 2000 m.
Fig. 13 is a load displacement versus time graph for a cable run length of 3000 m.
Fig. 14 is a graph of motor speed versus time for a cable run length of 3000 m.
Fig. 15 is a graph of motor torque versus time for a cable run length of 3000 m.
In fig. 5: the marine ship attitude measuring device comprises a ship attitude measuring instrument 1, a marine winch 2, a photoelectric encoder 3, a mother ship 4, a retractable frame 5, a fixed pulley 6, a cable 7, a depth sensor 8 and underwater equipment 9.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1, a sliding mode control method of an active heave compensation system of an electrically driven marine winch comprises the following steps:
step one: and measuring by using a ship attitude instrument to obtain the heave motion data of the mother ship, processing the heave motion data of the mother ship by using fast Fourier transformation to obtain the frequency domain information of the heave motion data of the mother ship, and establishing a time domain function for representing the sample rule of the heave motion data of the mother ship.
The mother ship heave motion data are mother ship heave motion data acquired by a ship attitude instrument under four-level sea conditions, wherein the ship attitude instrument acquires the mother ship heave motion data once every 0.1s for 20 seconds; the mother ship heave motion data frequency domain information comprises amplitude information and phase information in a data sample frequency domain.
As shown in fig. 2-5, the invention uses two variables of the heave displacement of the mother ship and the cable lowering length as feedback items to the input end of the controller, and at the same time, the time domain function representing the law of the heave motion data of the mother ship is also used as the system input. The system outputs a control signal to the frequency converter by the self-adaptive nonsingular terminal sliding mode controller so as to control the three-phase asynchronous motor, thereby completing the control on the rotation speed and the steering of the marine winch drum, and further realizing the compensation of the heave displacement of the mother ship by winding and unwinding the mooring rope through the drum.
In this section, the mother ship heave motion data is preferentially subjected to a fast fourier transform process, resulting in its time domain function:
(1-1) measuring the heave motion of the mother ship by using a ship attitude instrument, taking the measurement time t as an abscissa, taking the amplitude y of the heave motion of the mother ship as an ordinate, and storing the amplitude y as a table file;
(1-2) importing the table file in the step (1-1) to a Matlab working space in a mode of naming a data numerical matrix, and running a program segment related to a fast Fourier transform method to obtain a mother ship heave motion data frequency domain amplitude-frequency curve graph shown in fig. 2 and a mother ship heave motion data time domain function fitting curve graph shown in fig. 3.
Step two: the coupling system of the operation mother ship, the mooring rope and the underwater equipment is simplified, and the transfer functions of the motion displacement of the underwater equipment to the heave motion displacement of the mother ship and the rotation angle of the marine winch drum are deduced.
The cable lengths in the mother vessel-cable-underwater equipment coupling system are assumed to be 2000m and 3000m, respectively, and modeling simulation will be performed later under the condition that the cable running lengths are 2000m and 3000 m. Simplifying a mother ship-cable-underwater equipment coupling system into a mass-spring-damping system, wherein the equivalent mass in the mass-spring-damping system is 2.5t, and the motion equation of the simplified system is expressed as:
wherein m is equivalent load mass; c is the sea water damping coefficient; k is the elastic rigidity coefficient of the cable; y (t) is the underwater load motion displacement; y is 0 (t) the displacement of the mother ship in heave motion; r is the radius of the roller; θ is the rotation angle of the roller; g 0 Compensating for heave dead load;
the transfer functions of the motion displacement of the underwater equipment to the heave motion displacement of the mother ship and the rotation angle of the roller are respectively as follows:
where s represents the variable in the transfer function obtained by the laplace transform, representing the transformation of the time variable t into a complex frequency variable.
The significance of the two formulas is as follows: the mother ship heave motion data is subjected to operation of the (1) th step to obtain underwater equipment motion data; and (2) calculating the data obtained after the motor torque is subjected to the transfer function of the motor torque to the motor rotation angle to obtain the heave compensation quantity of the underwater equipment motion displacement.
Step three: according to the speed regulation principle of a three-phase asynchronous motor speed regulation system, an electric driving marine winch active heave compensation system is combined, a three-phase asynchronous motor speed regulation system model is built by adopting a multi-motor dragging working mode, 6 alternating current variable frequency motors are redundant to be equipped in the multi-motor dragging three-phase asynchronous motor vector speed regulation model, and the driving action of the marine winch drum is completed through a gear matching relationship.
Fig. 6 and 7 show a schematic diagram of the active heave compensation system of the electrically driven marine winch and a schematic diagram of the vector control system of the three-phase asynchronous motor, wherein the control system of the three-phase asynchronous motor mainly comprises a power supply module, an inverter pulse generating module, an asynchronous motor, a motor measuring module, a motor rotating speed regulator, a motor torque regulator, a magnetic linkage regulator and the like.
The three-phase asynchronous motor speed regulating system based on the rotor flux linkage is characterized in that the voltage equation of the asynchronous motor under the directional synchronous rotation coordinates is as follows:
wherein: l (L) m Is the mutual inductance coefficient between the stator equivalent winding and the rotor equivalent winding, L r U is the self-inductance coefficient of the rotor equivalent winding sd Representing the component of the stator voltage on the d-axis, U sq Is the component of the stator voltage on the q-axis; r is R s Is a stator resistor; l (L) s Is stator leakage inductance; r is R r Is rotor resistance; i.e sd Representing the component of the stator current in the d-axis, i sq Representing the component of the stator current on the q-axis, i rd Representing the component of the rotor current in the d-axis, i rq Representing the component of rotor current on the q-axis, ω s The synchronous angular velocity of the motor is delta omega, slip angular velocity and p is the pole pair number of the motor;
and combining a motor torque equation, and carrying out transformation solving on an asynchronous motor voltage equation to obtain:
in the psi- r The magnetic flux is motor rotor flux linkage, and sigma is motor leakage inductance coefficient.
The establishment of a three-phase asynchronous motor speed regulation system with quick response and large starting torque is an important foundation for realizing active heave compensation.
Step four: the dragging equation of the motor in the four-quadrant switching state is deduced by comprehensively considering the real working state of the electromechanical system, the viscous damping of the motor shaft and the torsional rigidity factor influence of the motor shaft in the process of lifting and lowering the load of the electric driving marine winch active heave compensation system.
The real working states of the motor comprise a forward electric state, a forward reverse braking state, a reverse electric state, a feedback braking state and a reverse braking state, wherein each motor working state represents a transfer function of a motor corner to motor torque in the subsystem.
As shown in fig. 8, which is a graph of mechanical characteristics of a motor in the active heave compensation process, related theories such as motor dragging and the like are combined with the actual hardware composition condition of the electrically driven marine winch, the following deduction can be performed:
when lifting underwater equipment, the winch multi-shaft dragging motion equation when the motor is in a forward electric state and a forward reverse braking state is respectively as follows:
wherein: t (T) e Outputting torque for the motor; t (T) L Equivalent torque for load; GD (graphics device) 2 Equivalent flywheel moment for the rotating part; n is the motor rotation speed; c is motor shaft torsional viscous damping; k is the equivalent torsional rigidity of the motor shaft;
in the lower water-discharging equipment stage, namely, the winch multi-shaft dragging motion equation when the motor is in a reverse electric state, a feedback braking state and a reverse braking state is respectively as follows:
load equivalent torque T L The method comprises the following steps:
wherein: i is the total gear ratio;
from this, the transfer functions of the drum rotation angle of the motor in each different working quadrant for the motor torque in the lifting underwater equipment stage and the lowering underwater equipment stage are obtained respectively:
in the formula (8), the first formula corresponds to the motion equation of the ocean winch electromechanical system when the forward running motion of the asynchronous motor is in a first quadrant and the forward electric state, the second formula corresponds to the motion equation of the ocean winch electromechanical system when the forward running motion of the asynchronous motor is in a second quadrant and the reverse braking state, the third formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in a third quadrant and the reverse electric state, the fourth formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in a fourth quadrant and the feedback braking state, and the fifth formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in the fourth quadrant and the reverse braking state. The working quadrant of the asynchronous motor is only four quadrants, and the last two of the five formulas are ocean winch electromechanical system motion equations under the subdivision working state of the fourth quadrant asynchronous motor.
Step five: the method comprises the steps of designing a self-adaptive nonsingular terminal sliding mode controller, taking a forward and backward movement displacement deviation value and the change rate of the forward and backward movement displacement deviation value of underwater equipment as input signals, wherein the output signals are motor control signals of an electric driving marine winch, and controlling the steering of the motor and the rotating speed of the motor, so that an active heave compensation system of the marine winch is controlled.
The self-adaptive nonsingular terminal sliding mode controller is a control algorithm which switches the magnitude and the sign of the control quantity in an ideal switching mode, enables the system to move back and forth in the adjacent area of the switching line and finally becomes sliding along the switching line, realizes the motor rotating speed reaching a given rotating speed and reduces shaking generated when the working state of the motor is switched.
Fig. 9 shows a simulation model diagram of an active heave compensation control system of an electrically driven marine winch, wherein the simulation model comprises an external excitation port, a transfer function of motor torque to a motor corner, a transfer function of the motor corner to underwater equipment displacement, a three-phase asynchronous motor speed regulation system, a self-adaptive nonsingular terminal sliding mode controller and the like. The mother ship heave motion time domain function is input by an external excitation port, the self-adaptive nonsingular terminal sliding mode controller outputs a corresponding control signal to the three-phase asynchronous motor speed regulating system through calculating the deviation between the ideal position and the actual position of the underwater equipment, and the compensation quantity of the system to the displacement of the underwater equipment is generated through a transfer function of the motor output torque which is sequentially connected after the motor output torque.
The sliding mode control idea is applied to the field of motor control, so that the sensitivity of the running state of the motor and the carrying capacity of the system can be improved, and the speed regulation range of the system can be widened.
Definition of motor rotational speed error e=ω * Omega and its derivativeAs a state variable, the sliding mode function S and the variable K w The design is as follows:
wherein c w A constant greater than 0, J being the moment of inertia;
in order to meet the stability condition of sliding mode control and enable the control to quickly approach the sliding mode surface, an exponential approach law constraint control function u is adopted:
wherein sgn(s) is a sign function, η and k h All are undetermined coefficients, eta>0,k h >0。
An active heave compensation control system of the electrically driven marine winch is examined, wherein a time domain fitting function obtained by actually measuring heave motion data of a mother ship is used as External excitation of the system and is imported by an External signal port; the four-quadrant operation switching function of the motor is completed by a module named as "Torque-state-switch" and a module named as "Angle-state-switch" together, and is completed by an s-function; the adaptive nonsingular terminal sliding mode controller is named as an SMC module.
From simulation results, namely, fig. 10 to 15, wherein fig. 10 to 12, namely, a load displacement-time graph, a motor rotation speed-time graph and a motor torque-time graph of the cable in a lowering length of 2000m, it can be known that the load heave displacement in an uncompensated state changes within-0.8 m to +0.8m, and the load heave displacement change frequency is reduced. After heave compensation, the load displacement is obviously reduced. From the motor compensation rotation speed-time graph and the motor compensation torque-time graph, the motor compensation rotation speed value changes within-600 rpm to +600rpm, and the motor compensation torque value fluctuates within-160 N.m to +80 N.m; fig. 13-15, i.e. load displacement versus time curve, motor speed versus time curve, load heave displacement without compensation for motor torque versus time curve for a cable run length of 3000m, vary from-2.0 m to +1.5 m. After heave compensation, the load displacement is obviously reduced. From the motor compensation rotation speed-time graph and the motor compensation torque-time graph, the motor compensation rotation speed value changes within-800 rpm to +1000rpm, and the motor compensation torque value fluctuates within-170 N.m to +120 N.m.
Comparing the results obtained by the two simulation schemes, the load displacement change curve graph can show that the larger the steel wire rope release length is, the larger the load displacement change range is. Meanwhile, according to analysis by combining the motor compensation rotating speed and the compensation torque obtained in the simulation scheme, the influence of the waves on the loads at different depths directly influences the active heave compensation effect of the system, and the method is particularly characterized in that the system has larger compensation rotating speed and compensation torque on the loads at larger depths, so that deep sea operation is more complex and dangerous than offshore operation, the tension change range of a steel wire rope is larger, and the cable breakage phenomenon is more likely to occur.
Claims (7)
1. The sliding mode control method of the active heave compensation system of the electrically driven marine winch is characterized by comprising the following steps of:
step one: measuring by using a ship attitude instrument to obtain mother ship heave motion data, processing by fast Fourier transform to obtain mother ship heave motion data frequency domain information, and establishing a time domain function for representing mother ship heave motion data sample rules;
the specific process of the first step is as follows:
(1-1) measuring the heave motion of the mother ship by using a ship attitude instrument, taking the measurement time t as an abscissa, taking the amplitude y of the heave motion of the mother ship as an ordinate, and storing the amplitude y as a table file;
(1-2) importing the table file in the step (1-1) to a Matlab working space in a mode of naming a data numerical matrix, and running a program section related to a fast Fourier transform method to obtain a mother ship heave motion data frequency domain amplitude-frequency curve graph and a mother ship heave motion data time domain function fitting curve graph;
step two: simplifying an operation mother ship-cable-underwater equipment coupling system, and further deducing transfer functions of the underwater equipment motion displacement to the mother ship heave motion displacement and the marine winch drum rotation angle respectively;
step three: according to the speed regulation principle of a three-phase asynchronous motor speed regulation system, an electric driving marine winch active heave compensation system is combined, and a multi-motor dragging working mode is adopted to build a three-phase asynchronous motor speed regulation system model;
step four: comprehensively considering the real working state of an electromechanical system, the viscous damping of a motor shaft and the torsional rigidity factor influence of the motor shaft of an electric drive marine winch active heave compensation system in the process of lifting and lowering a load, and deducing a dragging equation under the condition that the motor is in a four-quadrant switching state;
step five: the method comprises the steps of designing a self-adaptive nonsingular terminal sliding mode controller, taking a forward and backward movement displacement deviation value and the change rate of the forward and backward movement displacement deviation value of underwater equipment as input signals, wherein the output signals are motor control signals of an electric driving marine winch, and controlling the steering of the motor and the rotating speed of the motor, so that an active heave compensation system of the marine winch is controlled.
2. The sliding mode control method of the active heave compensation system of the electrically driven marine winch according to claim 1, wherein the heave motion data of the mother ship in the first step is the heave motion data of the mother ship acquired by a ship attitude instrument under the four-level sea condition, wherein the ship attitude instrument acquires the heave motion data of the mother ship once every 0.1s for 20 seconds; the mother ship heave motion data frequency domain information comprises amplitude information and phase information in a data sample frequency domain.
3. The method for controlling the sliding mode of the active heave compensation system of the electrically driven marine winch according to claim 1, wherein in the second step, the coupling system of the mother ship-cable-underwater equipment is simplified into a mass-spring-damping system, and the motion equation of the simplified system is expressed as:
wherein m is equivalent load mass; c is the sea water damping coefficient; k is the elastic rigidity coefficient of the cable; y (t) is the underwater load motion displacement; y is 0 (t) the displacement of the mother ship in heave motion; r is the radius of the roller; θ is the rotation angle of the roller; g 0 Compensating for heave dead load;
the transfer functions of the motion displacement of the underwater equipment to the heave motion displacement of the mother ship and the rotation angle of the roller are respectively as follows:
where s represents the variable in the transfer function obtained by the laplace transform, representing the transformation of the time variable t into a complex frequency variable.
4. The sliding mode control method of the active heave compensation system of the electrically driven marine winch according to claim 3, wherein in the third step, the voltage equation of the asynchronous motor under the rotor flux orientation synchronous rotation coordinate of the three-phase asynchronous motor speed regulating system is as follows:
wherein: l (L) m Is the mutual inductance coefficient between the stator equivalent winding and the rotor equivalent winding, L r U is the self-inductance coefficient of the rotor equivalent winding sd Representing the component of the stator voltage on the d-axis, U sq Is the component of the stator voltage on the q-axis; r is R s Is a stator resistor;L s is stator leakage inductance; r is R r Is rotor resistance; i.e sd Representing the component of the stator current in the d-axis, i sq Representing the component of the stator current on the q-axis, i rd Representing the component of the rotor current in the d-axis, i rq Representing the component of rotor current on the q-axis, ω s The synchronous angular velocity of the motor is delta omega, slip angular velocity and p is the pole pair number of the motor;
and combining a motor torque equation, and carrying out transformation solving on an asynchronous motor voltage equation to obtain:
in the psi- r The magnetic flux is motor rotor flux linkage, and sigma is motor leakage inductance coefficient.
5. The method for controlling the sliding mode of the active heave compensation system of the electrically driven marine winch according to claim 4, wherein in the fourth step, when the underwater equipment is lifted, the winch multi-axis dragging motion equation when the motor is in the forward electric state and the forward reverse braking state is respectively:
wherein: t (T) e Outputting torque for the motor; t (T) L Equivalent torque for load; GD (graphics device) 2 Equivalent flywheel moment for the rotating part; n is the motor rotation speed; c is motor shaft torsional viscous damping; k is the equivalent torsional rigidity of the motor shaft;
in the lower water-discharging equipment stage, namely, the winch multi-shaft dragging motion equation when the motor is in a reverse electric state, a feedback braking state and a reverse braking state is respectively as follows:
load equivalent torque T L The method comprises the following steps:
wherein: i is the total gear ratio;
from this, the transfer functions of the drum rotation angle of the motor in each different working quadrant for the motor torque in the lifting underwater equipment stage and the lowering underwater equipment stage are obtained respectively:
in the formula (8), the first formula corresponds to the motion equation of the ocean winch electromechanical system when the forward running motion of the asynchronous motor is in a first quadrant and the forward electric state, the second formula corresponds to the motion equation of the ocean winch electromechanical system when the forward running motion of the asynchronous motor is in a second quadrant and the reverse braking state, the third formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in a third quadrant and the reverse electric state, the fourth formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in a fourth quadrant and the feedback braking state, and the fifth formula corresponds to the motion equation of the ocean winch electromechanical system when the asynchronous motor is in the fourth quadrant and the reverse braking state.
6. The method of claim 5, wherein the real operating states of the motor in the fourth step include five states of forward electric state, forward reverse braking state, reverse electric state, feedback braking state, and reverse braking state, wherein each of the operating states of the motor represents a transfer function of a motor angle to a motor torque in the subsystem.
7. The sliding mode control method of the active heave compensation system of the electrically driven marine winch according to claim 5, wherein the self-adaptive nonsingular terminal sliding mode controller in the fifth step is a control algorithm which switches the magnitude and sign of the control quantity in an ideal switching mode, enables the system to move back and forth in the adjacent area of the switching line and finally becomes sliding along the switching line, realizes the motor rotation speed reaching a given rotation speed and reduces shake generated when the motor working state is switched;
definition of motor rotational speed error e=ω * Omega and its derivativeAs a state variable, the sliding mode function S and the variable K w The design is as follows:
wherein c w A constant greater than 0, J being the moment of inertia;
in order to meet the stability condition of sliding mode control and enable the control to quickly approach the sliding mode surface, an exponential approach law constraint control function u is adopted:
wherein sgn(s) is a sign function, η and k h Are all undetermined coefficients, eta is more than 0, and k h ＞0。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111389775.9A CN114014179B (en) | 2021-11-22 | 2021-11-22 | Sliding mode control method of active heave compensation system of electrically-driven marine winch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111389775.9A CN114014179B (en) | 2021-11-22 | 2021-11-22 | Sliding mode control method of active heave compensation system of electrically-driven marine winch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114014179A CN114014179A (en) | 2022-02-08 |
| CN114014179B true CN114014179B (en) | 2024-01-30 |
Family
ID=80065622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111389775.9A Active CN114014179B (en) | 2021-11-22 | 2021-11-22 | Sliding mode control method of active heave compensation system of electrically-driven marine winch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114014179B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115057379B (en) * | 2022-06-30 | 2024-08-13 | 天津大学 | Low-energy-consumption green hoisting deep sea mining system |
| CN115818490B (en) * | 2022-11-22 | 2023-07-21 | 哈尔滨工程大学 | Semi-active heave compensation device for ROV release recovery |
| CN118034288A (en) * | 2024-02-19 | 2024-05-14 | 中国船舶集团有限公司第七零七研究所九江分部 | Ship berthing control method and system considering disturbance compensation under-actuated |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9929102D0 (en) * | 1999-12-10 | 2000-02-02 | Electric Drive Systems S A | Maritime reeling system |
| WO2008068445A1 (en) * | 2006-12-06 | 2008-06-12 | National Oilwell Varco, L.P. | Method and apparatus for active heave compensation |
| AU2008298512A1 (en) * | 2007-09-14 | 2009-03-19 | Goodcrane Corporation | Motion compensation system |
| CN101723257A (en) * | 2009-12-31 | 2010-06-09 | 中国人民解放军国防科学技术大学 | Hydraulic driving system for active heave compensation crane |
| CN102530730A (en) * | 2012-01-30 | 2012-07-04 | 中联重科股份有限公司 | Control system of slewing mechanism and tower crane |
| CN203922561U (en) * | 2014-04-28 | 2014-11-05 | 上海杰臻电气技术有限公司 | The electronic active heave compensation control system of a kind of Novel pure |
| CN104495672A (en) * | 2015-01-04 | 2015-04-08 | 湖南科技大学 | Active heave compensation control system and active heave compensation control method of marine ship-borne AC variable-frequency winch |
| CN104555769A (en) * | 2015-01-20 | 2015-04-29 | 湖南科技大学 | Electrically-driven active heaving supplementing type marine winch |
| CN104627857A (en) * | 2015-02-16 | 2015-05-20 | 哈尔滨工程大学 | Active heave compensation experimental device |
| CN204355998U (en) * | 2015-01-04 | 2015-05-27 | 湖南科技大学 | Ocean boat-carrying AC frequency conversion winch active compensation control system |
| GB201509487D0 (en) * | 2015-06-02 | 2015-07-15 | Marine Electrical Consulating Ltd | Method and apparatus for adaptive motion compensation |
| WO2015189368A2 (en) * | 2014-06-13 | 2015-12-17 | Cameron Sense AS | Winches and hoisting systems with heave compensation |
| GB2549488A (en) * | 2016-04-18 | 2017-10-25 | David Screaton Lee | Active heave compensation apparatus |
| CN206955489U (en) * | 2017-06-02 | 2018-02-02 | 江苏科技大学 | A kind of portable small-sized boat-carrying Lift-on/Lift-off System with active compensation of undulation function |
| CN110426954A (en) * | 2019-07-25 | 2019-11-08 | 山东大学 | Deep-sea crane active compensation controller and control system |
| CN110568814A (en) * | 2019-09-30 | 2019-12-13 | 湖南科技大学 | Wave signal simulation device suitable for active heave compensation |
-
2021
- 2021-11-22 CN CN202111389775.9A patent/CN114014179B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9929102D0 (en) * | 1999-12-10 | 2000-02-02 | Electric Drive Systems S A | Maritime reeling system |
| WO2008068445A1 (en) * | 2006-12-06 | 2008-06-12 | National Oilwell Varco, L.P. | Method and apparatus for active heave compensation |
| AU2008298512A1 (en) * | 2007-09-14 | 2009-03-19 | Goodcrane Corporation | Motion compensation system |
| CN101723257A (en) * | 2009-12-31 | 2010-06-09 | 中国人民解放军国防科学技术大学 | Hydraulic driving system for active heave compensation crane |
| CN102530730A (en) * | 2012-01-30 | 2012-07-04 | 中联重科股份有限公司 | Control system of slewing mechanism and tower crane |
| CN203922561U (en) * | 2014-04-28 | 2014-11-05 | 上海杰臻电气技术有限公司 | The electronic active heave compensation control system of a kind of Novel pure |
| WO2015189368A2 (en) * | 2014-06-13 | 2015-12-17 | Cameron Sense AS | Winches and hoisting systems with heave compensation |
| CN104495672A (en) * | 2015-01-04 | 2015-04-08 | 湖南科技大学 | Active heave compensation control system and active heave compensation control method of marine ship-borne AC variable-frequency winch |
| CN204355998U (en) * | 2015-01-04 | 2015-05-27 | 湖南科技大学 | Ocean boat-carrying AC frequency conversion winch active compensation control system |
| CN104555769A (en) * | 2015-01-20 | 2015-04-29 | 湖南科技大学 | Electrically-driven active heaving supplementing type marine winch |
| CN104627857A (en) * | 2015-02-16 | 2015-05-20 | 哈尔滨工程大学 | Active heave compensation experimental device |
| GB201509487D0 (en) * | 2015-06-02 | 2015-07-15 | Marine Electrical Consulating Ltd | Method and apparatus for adaptive motion compensation |
| GB2549488A (en) * | 2016-04-18 | 2017-10-25 | David Screaton Lee | Active heave compensation apparatus |
| CN206955489U (en) * | 2017-06-02 | 2018-02-02 | 江苏科技大学 | A kind of portable small-sized boat-carrying Lift-on/Lift-off System with active compensation of undulation function |
| CN110426954A (en) * | 2019-07-25 | 2019-11-08 | 山东大学 | Deep-sea crane active compensation controller and control system |
| CN110568814A (en) * | 2019-09-30 | 2019-12-13 | 湖南科技大学 | Wave signal simulation device suitable for active heave compensation |
Non-Patent Citations (2)
| Title |
|---|
| 主动式海洋钻井升沉补偿绞车设计与仿真研究;黄鲁蒙;张彦廷;张磊;齐明侠;;计算机仿真(第11期);全文 * |
| 海洋船载电驱动绞车控制系统建模与仿真分析;赵延明;李成;邓毓弸;计算机仿真(第11期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114014179A (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114014179B (en) | Sliding mode control method of active heave compensation system of electrically-driven marine winch | |
| CN104876145B (en) | Electronic active compensation hoister system | |
| CN109896423B (en) | Time-varying nonlinear trolley-hoisting anti-swing control device and anti-swing control method | |
| CN104817019B (en) | A kind of ship's crane heave compensation method based on the forecast of hanging object heave movement | |
| CN108092567A (en) | A kind of Speed control of permanent magnet synchronous motor system and method | |
| CN103895832B (en) | A kind of boats and ships electricity servo fin, wing fin rollstabilization intelligence vector control method | |
| CN110190795A (en) | A kind of permanent magnet synchronous motor tandem type Robust Prediction current control method | |
| CN110061671B (en) | Permanent magnet synchronous motor control method and system based on speed change approach rate | |
| Tuan et al. | Observer-based nonlinear robust control of floating container cranes subject to output hysteresis | |
| CN110568814A (en) | Wave signal simulation device suitable for active heave compensation | |
| CN104340802B (en) | A kind of elevator anti-running driving control system and driving control method | |
| CN108282126B (en) | Speedless sensor current-sharing control method for double three-phase linear induction machines | |
| Wu et al. | Impedance control of secondary regulated hydraulic crane in the water entry phase | |
| CN115741697A (en) | Optimized moment feedback method, system and equipment for mechanical arm joint | |
| CN104767452B (en) | Induction-type bearingless motor adaptive inversion decoupling control method based on nonlinear filter | |
| CN110422284A (en) | A kind of active compensation method and system based on Ship Motion forecast | |
| CN112731142B (en) | Vehicle rack dynamic load simulation method and system considering output constraint | |
| Shuguang et al. | Research on active heave compensation for offshore crane | |
| CN106685295B (en) | A kind of processing method of servo system friction | |
| CN210864401U (en) | Wave signal simulation device suitable for active heave compensation | |
| CN107884113B (en) | A kind of thrust test method for underwater propeller propeller | |
| Huang et al. | Research on propeller dynamic load simulation system of electric propulsion ship | |
| Moslått et al. | A Control Algorithm for Active/Passive Hydraulic Winches Used in Active Heave Compensation | |
| Yang et al. | Research on an active heave compensation system for remotely operated vehicle | |
| Sun et al. | Experimental design and development of heave compensation system for marine crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |