Control System Design And Performance Analysis Of Marine Crane Motion Compensation Winch

Marine crane is indispensable equipment in marine exploration,development,storage,and transportation.It is also important tool of port loading and unloading,naval architecture and marine engineering,port built hydraulic,underwater salvage and bridge construction.At the same time,it has played an important role in the more and more fields.In the process of actual operation,lifting load will threaten safe operation affected by platform such as heave motion.In order to improve the safety of operation and work efficiency,marine crane must own motion compensation function.Control system is the core of motion compensation technology research.Thus,good performance and operability of the control system is the guarantee of motion compensation system safe and efficient work.This article uses the marine crane motion compensation winch and choose the right components.It has three kinds of working condition,namely normal hoisting mode,compensation working mode and compensation hoisting mode.According to the working principle and the calculation results of working conditions,simulation model is set up respectively using AMEsim software with Simulink simulation.Using PID control,fuzzy control and fuzzy PID three control methods,compare and analyze control effect of various control methods,and establish two kinds of control strategies for compensation hoisting conditions.In the normal hoisting mode,the control results show that the PID control and fuzzy control are significantly improved and the fuzzy PID control is more stable when the lifting speed is 0.5m/s.In the compensation mode,the PID control effect is obvious and the stability and speed are becoming much better.However,the fuzzy controleffect is poor.The fuzzy PID control is further optimized than the PID control effect in compensation mode.Two kinds of control strategies are used in the compensation lifting condition,full closed loop control and semi-closed-loop control.And the control results show that the semi-closed-loop control have more advantages than the closed loop control.