Design Of Detection And Control Based On Heavy Towed Heave Compensation System

With the growing human demand for energy, the available energy inthe land is less and less. As the world’s largest resource treasure, ocean isextremely rich in mineral, oil and gas. So it’s bound to become the mainholder of resources necessary to the future survival and development ofmankind. In the process of exploration and development of marineresources, the heavy towed heave compensation system has been widelyused.The heavy towed heave compensation system is essential for safeoperation of underwater towed equipment, whoses characteristics werewithstanding overloaded, complex structure, technical difficulties and soon, and it’s required to run in the changeable environment of the deepocean region. So the system is difficult to be tested frequently in the seain the initial research stage. To resolve this problem, a simulation systemof the heavy towed system was constructed in the paper, and the controlstrategies of the heave compensation system was further explored. Allthese would provider a reference for the heave compensation equipment’smanufacture in the future and help reduce the development risk, improvethe design quality.In the thesis, the works of heavy towed heave compensation systemwas systematically analysised, and the law of motion of the tug in theocean environment was reasonably simplified, and the heavy towedsystem simulation platform was constructed. In the study process of thesimulating system, the virtual instrumentation technology and the controlsystem simulation technology were applied. Then, the real timemonitoring software based on the heave compensation test system wasdesigned in the virtual instrument platform—LabVIEW, and thesimulation system based on the internal model control principle wasdesigned in the control system simulation software—Matlab/Simulink.Finally, the simulation analysis under the interference of the heavemovement was carried out in the simulation system. The result of the simulation showed that the position servo controllerwas designed based on the internal model control principle couldcompensate better the heave displacement of the heavy towed system,achieving the expected effect of the design.