Design Of Hydraulic Heave Compensation Test Platform For Wreck Synchronous Lifting

In the salvage project of wreck,because the presence of sea wind,wave and flow,the barge will be affected due to the irregular wave motion,causing lifting cable stress uneven phenomenon in the salvage operation process,increase maritime salvage engineering difficulty,the occurrence of serious and even cause engineering accident at sea.Therefore,the main objective of this paper is to design a hydraulic heave compensation test platform for wreck synchronous lifting.Through this platform,we can study the influence of different heave compensation methods and compensation parameters on the synchronous lifting,so as to explore the best compensation methods and compensation parameters under different salvage conditions.It can provide experimental reference and theoretical basis for the design of heave compensation system for the actual salvage operations.This paper begins with the "CHANG TONG" stern salvage operations used synchronous lifting system as a model,by simplifying the double lifting barge,cable,ship load and force of seawater on the wreck,and the whole heave compensation system is added to the lifting system,the overall scheme and the structure of the heave compensation test platform is designed to simulate the hydraulic synchronous lifting for wreck.According to the heave compensation test platform,the whole hydraulic system is designed,including the heave compensation hydraulic system,hydraulic system of two degrees of freedom platform and hydraulic system of barge loading platform hydraulic system.In order to realize the real-time control of each cylinder,the mathematical model of valve controlled cylinder is designed based on type 4WREE Rexroth E-style proportional direction valve,and the simulation analysis is carried out.In order to simulate the real wave motion of the barge,the motion control model of the two degree of freedom simulation platform and the six degree of freedom simulation platform is established respectively,and the displacement control is realized by using the position servo control model of the valve control cylinder.Because of the design of the test platform,the individual movement on both sides of debugging,so combined with active compensation strategy,realizing the co-simulation of the six degrees of simulation platform for active compensation,to verify the accuracy of the test platform of motion control and the effectiveness of the active compensation.Build the hydraulic synchronous lifting of heave compensation test platform,establish a complete control system,including control unit,electro-hydraulic control and signal acquisition,and the main equipment selection,and the simulation platform with two degrees of freedom motion control system debugging,proved the good performance,and provide test platform system for heavy compensation strategies study and parameters design for the next.