Research On Semi-active Wave Compensation Technology For Hydraulic Synchronous Lifting And Salvage

In the process of hydraulic synchronous lifting and salvage,the heave movement of the barge with the waves will seriously affect the stability and safety of the salvage,and the wave compensation is required.The large load and high-precision operation characteristics of hydraulic synchronous lifting and salvage pose new challenges to its wave compensation system.In this paper,the semi-active wave compensation system for hydraulic synchronous lifting and salvaging operations is studied and analyzed.The main contents include the following aspects:(1)According to the characteristics of hydraulic synchronous lifting and fishing technology,the design requirements and objectives of its wave compensation system are proposed.According to the design target,the wave compensation scheme of hydraulic synchronous lifting and fishing operation is completed.The semi-active wave compensation system scheme adopting the hydraulic series structure layout and double closed-loop PID control strategy are designed.(2)Modeling and simulation analysis of passive compensation part in the wave compensation system.As the important component of the semi-active wave compensation system,the passive wave compensation part is mathematically modeled by the vibration method.The core parameters of the system are designed according to the vibration theory,and the system is simulated by MATLAB.The results show that the efficiency of passive compensation is in line with expectations.In addition,the influence of system parameters on passive compensation performance is also simulated,which lays a foundation for further research.(3)Modeling and simulation analysis of semi-active wave compensation systems.The whole system is mathematically modeled.According to the previous research results,the system parameters are selected and the simulation model is established.The performance of the semi-active compensation system is studied through simulation.The results show that the compensation efficiency meets the design requirements.On this basis,the influence of system parameters on compensation efficiency and system energy consumption is studied.By adjusting system parameters,compensation efficiency can be improved and system energy consumption can be reduced.(4)Research on Synchronization Control Strategy between Double Semi-Active Wave Compensation Systems.The influencing factors causing the unsynchronization between the two systems and the effects of the asynchronous are analyzed separately.The control effects of three PID synchronization control methods(master-slave control,parallel control and cross-coupling control)are compared by simulation,and the results show that the cross-coupling synchronous control has the best effect.Aiming at the nonlinearity of the system and the poor adaptability of PID control,the BP neural network synchronization control strategy is designed and its control effect is simulated.The results show that its synchronization control effect is better than cross-coupling control.