海洋平臺定位系統(tǒng)設(shè)計.rar
海洋平臺定位系統(tǒng)設(shè)計,原創(chuàng)碩士論文摘要海洋資源極為豐富，開發(fā)海洋資源成為各國追逐的熱點(diǎn)，直接帶動了國際海洋工程裝備業(yè)迅猛發(fā)展，從而出現(xiàn)了海上系泊自動定位系統(tǒng)供不應(yīng)求的狀況，而目前系泊自動定位系統(tǒng)設(shè)計制造技術(shù)一直被國外壟斷，因而嚴(yán)重制約了我國海洋工程裝備業(yè)的發(fā)展。連續(xù)兩個五年規(guī)劃，海洋工程裝備都是我國重點(diǎn)發(fā)展的16項(xiàng)重大技...
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o￡?ó??ì¨?¨???μí3éè??
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?a òa
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o￡?ó??ì¨μ??¨??·?ê???é??è?é·??a×?éyê?1ì?¨??ì¨?￠°??±ê??a2′?¨????ì¨oíé????ˉá|?¨????ì¨￡?±????D??μ?ê?°??±ê?o￡?ó??ì¨?a2′?¨???????μí3?￡±???ê×?è?ééüá?o￡?ó??ì¨?¨???μí3?D??μ?±3?°oío￡?ó??ì¨μ?·?àà￡?·???á?o￡?ó??ì¨μ?·￠?1??×′oí??ì¨μ??á11￡?2?êíá??′à′°??±ê?o￡?ó??ì¨μ?·￠?1?÷ê?￡?ìá3?á??a2′?¨??????μ?·?·¨￡??′óé?D???????ú????°?ì¨?ùóúPLC????μ??μ2′?ê3μ￡?í¨1y·?à??ì2a?￠2¨à??¤±¨￡?D-μ÷°?ì¨?μ2′?ê3μò??ù?è?????￠í?2?????oío???á|????μ?2?í???DD?￡ê?￡?êμ??o￡?ó×÷òμ??ì¨μ??¨??oí?μ2′°2è??￡
???D??o￡?ó??ì¨μ??μ2′·?ê?oí??à??μ2′D?ê???DDá?·???￡??¨á￠á?°??±ê?o￡?ó??ì¨ò??×?óDíμ?êy?§?￡Dí￡????μ2′??à?μ?êüá|??DDá?????oí·???￡???3?á?o￡?ó??ì¨?a??????μ?·?·¨oíêμê±?¤±¨μ?????·?·¨?￡ìá3?á?òo?1?μí3?y?ˉ·?°?oí?üêêóú?μ2′?ê3μμ??ù?è????￡¨?òí?2?????￡?ó?o???á|????μ???????·¨￡¨?±?￠·?￡¨PDF￡?·′à?????￡?￡?í?ê±?????ú1¤3ìêμ?ù?D￡?óéóúía??μ??éè?oí?????÷ê?3?μ??T??￡?2éó?á??1?y·?±￥oí?a??êμ?ê?μ2′?ê3μ??DD1y3ì?D?é?@@???μ??êìa?￡???D?1??3?á?òo?1?-àíí?￡?·???á???1¤×÷?-àí￡?2￠?ééüá??í′?í?2?????àí??￡??¨á￠á?·§???í′?′?μYoˉêy?￡
×?oó?ééüá?o￡?ó??ì¨?¨???μí3?ê3μ?ù?è?????￠í?2??????￠o???á|????μ??￡?aê??é??ì¨μ?′??¨￡?±àD′á??ú×?ê??éòa?óμ??μí3èí?t?￡?-1y·???èí?tμ?·???è??¤oí?￡?aê??é??ì¨μ??￡?aêμ?é￡??¤?÷àí??·????yè·￡?????·?·¨μ?μ±￡?′?μ?á??????D??μ???μ?oíòa?ó?￡
1??ü′ê￡o?μ2′?ê3μ￡?òo?1?μí3￡?í?2?????￡?o???á|????￡??±?￠·???????·¨￡?
êμ?é?μí3
ABSTRACT
??????The thesis mainly researches into the mooring positioning winch of the semi-submersible offshore platform in different working conditions of speed control, synchronous control and constant tension control, the achievement of the hydraulic system with switching function among different running modes, also the design of the control system and pilot system.
??????Firstly, after referring to a large number of documents in recent years both home and abroad, I have a comprehensive understanding of marine platform positioning system, such as the platform?￠mechanism and its developing trend. These are the bases of my innovation research. To apply the matrix analytical method of multi-body system, I get the one-order mathematical model of offshore platform. Cable deformation is analyzed by applying differential and integral principals. At last I put forward decoupling calculation method of the offshore platform dynamic power and its real-time forecasting method.
Secondly, with comparison of the hydraulic system driving scheme, I study on the load-sensitive technology of mooring winch, speed control, synchronous control, constant tension control, them-related fuel lines connecting and switching mode, load-balanced loop, brake loop, two constant tension motors?ˉ oil-supplying connections, the calculation of figure of the constant tension and the setting method, the synchronous control between drum motor and cable-rowed lead screw and the cable-charged or cable-laid principal of mooring winch and its testing scheme.
Thirdly, in fact, in the control system, by taking account of both the power constraint of final-end control unit and the special response characteristics of step signal, we deduce the parameters of PDF controller of first-order and second-order system. With the comparison of PI controller with PDF controller to first-order system and the comparison PID controller with PDF controller to second-order system, we know the advantages of PDF control. It also introduces a method to solve saturated control in practical objects?aanti-saturated integral.
Finally, it analyses the theory of synchronous control of hydraulic motor, deduces the transfer function of valve-controlled motors. A series of simulations show the stability of synchronization control of hydraulic motor system. The thesis analyzes the reason for the error of motor in the process of running?￠the solutions and its measures.
????Keyword: Mooring Winch; Hydraulic System; Synchronous Control ; Constant Tension Control; Pseudo-Derivative-Feedback control (PDF); Experimental system
????
?a òa I
ABSTRACT III
μú1?? ???? 1
1.1 ?D??±3?° 1
1.2 o￡?ó??ì¨μ?·?ààó??D????×′ 2
1.2.1 o￡?ó??ì¨μ?·?àà 2
1.2.2 o￡?ó??ì¨?D????×′ 3
1.3 °??±ê?o￡?ó??ì¨μ?113éó?·￠?1?÷ê? 4
1.3.1 °??±ê?o￡?ó??ì¨μ?113é 4
1.3.2 °??±ê?o￡?ó??ì¨μ?·￠?1?÷ê?[4] 4
1.4 ??????ìaòaò??°?D???úèY 5
1.4.1 ±???????ìaòaò? 5
1.4.2 ±??????÷òa?D???úèY 5
1.5 ±???D??á 6
μú2?? o￡?ó??ì¨μ?êy?§?￡Dí 7
2.1 ?μ2′·?ê? 7
2.1.1 ?μ2′?μí32???D?ê? 7
2.1.2 ??à??μ2′D?ê? 7
2.2 o￡?ó??ì¨êy?§?￡Dí 8
2.3 ??à?êüá|·??? 9
2.4 ?μ2′??μ??2á|·??? 11
2.4.1 ?a2′????oa·?3ì 11
2.4.2 ?μí3???′á| 12
2.5 ?a??????ó?êμê±?¤±¨ 13
2...
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o￡?ó×ê?′???a·á??￡??a·￠o￡?ó×ê?′3é?a?÷1ú×·?eμ?èèμ?￡??±?ó′??ˉá?1ú?êo￡?ó1¤3ì×°±?òμ???í·￠?1￡?′ó??3???á?o￡é??μ2′×??ˉ?¨???μí31?2?ó|?óμ?×′??￡??????°?μ2′×??ˉ?¨???μí3éè?????ì??ê?ò??±±?1úía?￠??￡?òò??????????á??ò1úo￡?ó1¤3ì×°±?òμμ?·￠?1?￡á?D?á??????ê1???￡?o￡?ó1¤3ì×°±???ê??ò1ú??μ?·￠?1μ?16????′ó??ê?×°±???ò?￡????μ2′×??ˉ?¨???μí3ê?o￡?ó1¤3ì×°±?2??éè±éùμ?1??üéè±?￡??????D??2?????óDé???μ?é??áòaò?￡??ü???-??·￠?1μ???êμòaò??￡
o￡?ó??ì¨μ??¨??·?ê???é??è?é·??a×?éyê?1ì?¨??ì¨?￠°??±ê??a2′?¨????ì¨oíé????ˉá|?¨????ì¨￡?±????D??μ?ê?°??±ê?o￡?ó??ì¨?a2′?¨???????μí3?￡±???ê×?è?ééüá?o￡?ó??ì¨?¨???μí3?D??μ?±3?°oío￡?ó??ì¨μ?·?àà￡?·???á?o￡?ó??ì¨μ?·￠?1??×′oí??ì¨μ??á11￡?2?êíá??′à′°??±ê?o￡?ó??ì¨μ?·￠?1?÷ê?￡?ìá3?á??a2′?¨??????μ?·?·¨￡??′óé?D???????ú????°?ì¨?ùóúPLC????μ??μ2′?ê3μ￡?í¨1y·?à??ì2a?￠2¨à??¤±¨￡?D-μ÷°?ì¨?μ2′?ê3μò??ù?è?????￠í?2?????oío???á|????μ?2?í???DD?￡ê?￡?êμ??o￡?ó×÷òμ??ì¨μ??¨??oí?μ2′°2è??￡
???D??o￡?ó??ì¨μ??μ2′·?ê?oí??à??μ2′D?ê???DDá?·???￡??¨á￠á?°??±ê?o￡?ó??ì¨ò??×?óDíμ?êy?§?￡Dí￡????μ2′??à?μ?êüá|??DDá?????oí·???￡???3?á?o￡?ó??ì¨?a??????μ?·?·¨oíêμê±?¤±¨μ?????·?·¨?￡ìá3?á?òo?1?μí3?y?ˉ·?°?oí?üêêóú?μ2′?ê3μμ??ù?è????￡¨?òí?2?????￡?ó?o???á|????μ???????·¨￡¨?±?￠·?￡¨PDF￡?·′à?????￡?￡?í?ê±?????ú1¤3ìêμ?ù?D￡?óéóúía??μ??éè?oí?????÷ê?3?μ??T??￡?2éó?á??1?y·?±￥oí?a??êμ?ê?μ2′?ê3μ??DD1y3ì?D?é?@@???μ??êìa?￡???D?1??3?á?òo?1?-àíí?￡?·???á???1¤×÷?-àí￡?2￠?ééüá??í′?í?2?????àí??￡??¨á￠á?·§???í′?′?μYoˉêy?￡
×?oó?ééüá?o￡?ó??ì¨?¨???μí3?ê3μ?ù?è?????￠í?2??????￠o???á|????μ??￡?aê??é??ì¨μ?′??¨￡?±àD′á??ú×?ê??éòa?óμ??μí3èí?t?￡?-1y·???èí?tμ?·???è??¤oí?￡?aê??é??ì¨μ??￡?aêμ?é￡??¤?÷àí??·????yè·￡?????·?·¨μ?μ±￡?′?μ?á??????D??μ???μ?oíòa?ó?￡
1??ü′ê￡o?μ2′?ê3μ￡?òo?1?μí3￡?í?2?????￡?o???á|????￡??±?￠·???????·¨￡?
êμ?é?μí3
ABSTRACT
??????The thesis mainly researches into the mooring positioning winch of the semi-submersible offshore platform in different working conditions of speed control, synchronous control and constant tension control, the achievement of the hydraulic system with switching function among different running modes, also the design of the control system and pilot system.
??????Firstly, after referring to a large number of documents in recent years both home and abroad, I have a comprehensive understanding of marine platform positioning system, such as the platform?￠mechanism and its developing trend. These are the bases of my innovation research. To apply the matrix analytical method of multi-body system, I get the one-order mathematical model of offshore platform. Cable deformation is analyzed by applying differential and integral principals. At last I put forward decoupling calculation method of the offshore platform dynamic power and its real-time forecasting method.
Secondly, with comparison of the hydraulic system driving scheme, I study on the load-sensitive technology of mooring winch, speed control, synchronous control, constant tension control, them-related fuel lines connecting and switching mode, load-balanced loop, brake loop, two constant tension motors?ˉ oil-supplying connections, the calculation of figure of the constant tension and the setting method, the synchronous control between drum motor and cable-rowed lead screw and the cable-charged or cable-laid principal of mooring winch and its testing scheme.
Thirdly, in fact, in the control system, by taking account of both the power constraint of final-end control unit and the special response characteristics of step signal, we deduce the parameters of PDF controller of first-order and second-order system. With the comparison of PI controller with PDF controller to first-order system and the comparison PID controller with PDF controller to second-order system, we know the advantages of PDF control. It also introduces a method to solve saturated control in practical objects?aanti-saturated integral.
Finally, it analyses the theory of synchronous control of hydraulic motor, deduces the transfer function of valve-controlled motors. A series of simulations show the stability of synchronization control of hydraulic motor system. The thesis analyzes the reason for the error of motor in the process of running?￠the solutions and its measures.
????Keyword: Mooring Winch; Hydraulic System; Synchronous Control ; Constant Tension Control; Pseudo-Derivative-Feedback control (PDF); Experimental system
????
?a òa I
ABSTRACT III
μú1?? ???? 1
1.1 ?D??±3?° 1
1.2 o￡?ó??ì¨μ?·?ààó??D????×′ 2
1.2.1 o￡?ó??ì¨μ?·?àà 2
1.2.2 o￡?ó??ì¨?D????×′ 3
1.3 °??±ê?o￡?ó??ì¨μ?113éó?·￠?1?÷ê? 4
1.3.1 °??±ê?o￡?ó??ì¨μ?113é 4
1.3.2 °??±ê?o￡?ó??ì¨μ?·￠?1?÷ê?[4] 4
1.4 ??????ìaòaò??°?D???úèY 5
1.4.1 ±???????ìaòaò? 5
1.4.2 ±??????÷òa?D???úèY 5
1.5 ±???D??á 6
μú2?? o￡?ó??ì¨μ?êy?§?￡Dí 7
2.1 ?μ2′·?ê? 7
2.1.1 ?μ2′?μí32???D?ê? 7
2.1.2 ??à??μ2′D?ê? 7
2.2 o￡?ó??ì¨êy?§?￡Dí 8
2.3 ??à?êüá|·??? 9
2.4 ?μ2′??μ??2á|·??? 11
2.4.1 ?a2′????oa·?3ì 11
2.4.2 ?μí3???′á| 12
2.5 ?a??????ó?êμê±?¤±¨ 13
2...
