Abstract:

In order to reduce the impacts of wave on the hoisting in ship-mounted crane during offshore operation under rough weather conditions, a set of heave compensation systems was proposed for ship-mounted crane. A dynamic state space model of the system was built by selecting ship heave motion as input and different state variables as feedback, the payload displacement with passive and active-passive heave compensation modes were achieved respectively under suspensory state. At the end, dynamic performances of these two modes were analyzed according to the simulation results, then a cascade control was adopted as a control strategy in active-passive heave compensation mode.

Key words: ship-mounted crane, active-passive heave compensation, compound cylinder, cascade control

摘要：

为了减小船用起重机在海上作业时风浪对吊装的影响,介绍了一种船用起重机的升沉补偿系统,建立了系统的动力学状态空间模型。取船的升沉运动位移作为系统输入量,通过选择不同的状态变量作为反馈量,仿真分析了悬停状态下被动补偿模式和主动-被动补偿模式下载荷位移的变化,最后根据仿真结果比较分析了两种补偿模式下的动态性能,确定了以串级控制方式作为主动-被动补偿模式的控制策略。

关键词: 船用起重机, 主动-被动升沉补偿, 复合油缸, 串级控制