| The hydraulic pin-type lifting system is a key component to realize the self-lifting function of the jack-up wind turbine installation vessel,which is widely used due to its low cost,large power-to-weight ratio,and long service life.The quality of its synchronous control performance affects the level of its work efficiency.Taking the plug-in hydraulic lifting system of 2800 t offshore wind power installation ship as the research object,this paper studies the synchronous control technology of the lifting system through theoretical modeling and joint simulation analysis,which provided technical support for the operation of the wind turbine installation vessel.The main research contents and results are as follows:(1)According to the technical requirements of the 2800 t offshore wind turbine installation vessel and the characteristics of the operating environment,the hydraulic lifting system is designed,and the closed-loop hydraulic lifting system is designed based on the two-way proportional cartridge valve technology.The selection and calculation of the main components are completed,the principle of the hydraulic lifting system of the single leg is analyzed,and the main working conditions of the designed hydraulic lifting system are checked.The adopted control method and control algorithm are combined to form a variable speed integral RBF-PID coupling synchronous control strategy.(2)By comparing the synchronous control methods,the reference model coupling synchronous control method is adopted.the variable speed integral PID algorithm is combined with a single neuron and RBF network to form a variable speed integral RBF-PID synchronous control algorithm.The algorithm is verified by the system on the second-order with time delay and non-minimum phase angle.(3)The simulation model of hydraulic lifting system is established on the AMESim platform,and the correctness of the simulation model of key hydraulic components and single leg hydraulic lifting system is checked.Based on S-Function,the synchronous control algorithm of variable speed integral RBF-PID is established in MATLAB/Simulink,and simulation models of different control strategies are built.Relying on the co-simulation technology,in the case of partial load,the master-slave control method,the equivalent control method,the ring coupling synchronous control method and the reference model coupled synchronous control method are compared,and it is found that the reference model coupled synchronous control method is better than the other three control methods,which the maximum synchronization error is 18 mm,the adjustment time is 101 s;In the improved deviation coupling control method,PID,fuzzy PID and variable speed integral RBF-PID algorithm are used.After comparison,it is found that the control effect of the variable speed integral RBF-PID algorithm is the best,and the maximum synchronization error is reduced to 7.8 mm.The load mutation analysis is carried out under the variable speed integral RBF-PID coupling synchronous control strategy,the maximum synchronization error is 2.7 mm;The performance analysis is carried out when the sensor is disturbed,which the adjustment time is 120 s,and the maximum synchronization error is 3 mm. |
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