Research On Auxiliary Landing System Based On Parallel Platform For Vessel On Offshore Wind Turbine Operation And Maintenance

This dissertation applied the parallel platform to offshore wind turbine operation and maintenance(O&M),designed an auxiliary landing system,which has the function of motion compensation can ensure the staff safely travel between the wind turbine pedestal and vessel to solve the wind turbine fault caused by the bad working environment,improve the efficiency of wind turbine O&M.In order to verify the feasibility of the system,the interface technology between Solidworks,Matlab and Adams was used to complete the modeling and control simulation of the platform,and the ARMA model was established to optimize the control system.Firstly,the motion of random waves is analyzed and simulated by using wave spectrum analysis method,the ship motion equation is established by using the dynamic equilibrium theorem to obtain the motion curves of vessel.Secondly,the inverse kinematics analysis of parallel platform is carried out by using Euler rotation transformation and a parameter verification method based on reachable space is proposed.Thirdly,the control simulation methods of parallel platform based on Matlab are compared and joint simulation is used.Adams and Solidworks are used to build the model and generate the mechanical system after the parameters are determined.The mechanical system is imported into Matlab and the joint simulation of parallel platform is realized by using PID feedback control.The results show the effectiveness of the auxiliary landing system and the feasibility of the parameter verification method.Finally,the ARMA model is applied to the control of parallel platform to reduce the error caused by signal delay.The long autoregressive method is used to estimate the parameters of the ARMA model and the predicted curve is used to improve the performance of the control system.The results show that the ARMA model can reduce the control error caused by the signal delay and improve the performance of the auxiliary boarding system.An auxiliary landing system with motion compensation function for vessel is designed according to the actual demands in this dissertation.The three-dimensional model of the platform is built by Adams and simultaneous simulation of six-channel control is carried out by Matlab,which makes the effect close to reality.The auxiliary landing system performs well and the use of ARMA model can improve performance to optimize the wind turbine O&M mode.