Abstract:

This paper firstly brought forward an active heave compensation system (AHCS) based on differential planetary transmission (DPT) speed governor. Then operating principles of this new system were represented, a mathematical model was built, and variable transmission relationships were deduced. The research accomplished designs of planetary transmission speed governor, electrical and hydraulic servo system, as well as ship posture detection system, based on composite control strategy combination of feed-forward composition and feedback correction. Finally, prototype's experimental scheme was designed and the test platform was built, and the results show the planetary transmission speed heave composition system can meet requirements for lifting work under complex oceanic conditions according to the heave composition tests.

Key words: heave compensation, planetary transmission, prototype, control strategy

摘要：

提出了一种基于差动行星传动调速的主动式波浪补偿系统。阐述了新型主动式波浪补偿系统的工作原理，建立了波浪补偿系统数学模型，推导了波浪补偿变量传递关系。研究了基于前馈补偿-反馈校正的波浪补偿复合控制策略，完成了波浪补偿系统的行星传动调速器、控制系统电液伺服驱动系统、船舶姿态检测系统的设计。设计了原型样机试验方案并建立了模拟试验平台，通过波浪补偿试验，证明提出的行星传动调速波浪补偿系统能够基本满足复杂海况条件下吊装作业的要求。

关键词: 波浪补偿, 行星传动, 样机, 控制策略