| The tension windlass is applied to the windlass load experiment system to test the load function of windlass by controlling the tension of cordage to imitate the windlass load. According to the windlass practice condition and the feature of hydraulic system, the article puts forward the mingling control theory by separating the tension control and the speed control. Meanwhile, the author has designed different controller based on the different control request of two control processes. The main controller selects the proper controller to control the system by testing the changing tendency of tension. The dynamic character is improved by increasing the amplified coefficient of feedback link of nonlinear rotational speed-rotation torque and resistance of hydraulic system. To the influence of the link of nonlinear rotational speed-rotational torque, the author also puts forward the control method of outputting the rotational torque on the basis of the feedback of pressure difference, which improves the system character of static state and dynamic state in the same time. In the process of adjusting speed, according to the changing of the windlass speed, the proportional directional valve is adjusted to realize the rapid following of the windlass speed and control the static error leaded by the feedback of nonlinear rotational speed-rotational torque. At last, considering of the influence caused by the winch, the author designs the PID controller on the basis of the feedback of tension and adjusts the PID controller by many experiments. The experiments show that the above-mentioned method is able to maintain the tension windlass control system stability and meet the request of the load experiment system.The Main Content:The first chapter is a preface. It summarizes some kinds of structures of windlass load experiment system and methods of tension control. It introduces briefly the applicability of load experiment system, the article's content and significance.The second chapter is a design of hydraulic system. It introduces the principles of the tension windlass hydraulic system. On the basis of the analyzing the system static state and combining the factual conditions, it puts forward the improved plan of the system.The third chapter is a design of the matrix the control system. On the basis of the simplified structure of the system, according to the static equation of hydraulic system and the dynamic derivative equation, it establishes the matrix of the tension control system and analyses preliminarily the nonlinear feedback link of the system.The fourth chapter is a design of algorithm and simulation. According to the request of simulation of the simplified tension control system matrix, it analyses the static and dynamic system features, in the same time, using simulation to observe the function, which is improved by the nonlinear feedback of rotational speed-rotational torque. It puts forward a method that is on the basis of feedback of pressure difference, which can restrain the static state influence that is made by nonlinear feedback. Because the windlass speed changing has a great influence to the tension control, it also puts forward the mingling control theory by separating the tension control and speed control.The fifth chapter is a result of experiment. It analyses the method of collecting and handling the cordage tension signals, illustrates the results of many control methods.The sixth chapter is a conclusion and prospects. It summaries the conclusion of tension windlass hydraulic control system and puts forward its prospects. |
