| Offshore wind turbine blade spreader is the key equipment for offshore wind power construction and installation.In order to improve the efficiency of blade installation and reduce the labor intensity of operators,a single-blade rotary hydraulic spreader is designed.The spreader can complete the rotation of the blade in the air without the help of auxiliary equipment,so as to meet the installation needs of the three blades.This paper mainly studies the hydraulic control system of the rotary drive device of the spreader,and designs a rotary drive system based on electro-hydraulic servo control to meet the high-precision control of the multi-angle installation of the blade and improve the installation efficiency of the blade.Aiming at the problem of low control accuracy of the existing single-blade rotating spreader during blade installation,by analyzing the characteristics of the rotary movement of the blade of the single-blade spreader,a new type of hydraulic drive rotation device is proposed,which adopts the method of double hydraulic cylinder to drive the blade rotation to improve the accuracy and work efficiency of blade installation.According to the working principle and technical requirements of the single-blade rotary spreader,the hydraulic control system is designed,and the parameter calculation and component matching are carried out.The mathematical model of electro-hydraulic servo valve control asymmetric hydraulic cylinder position system is established,and the stability and dynamic characteristics of the hydraulic control system of the spreader rotating device are analyzed,and the subsequent optimization direction is given.The functional relationship between the displacement of the two hydraulic cylinders and the rotation angle of the main shaft is obtained through theoretical analysis,and an appropriate cooperative control strategy is selected to design a rotary-driven dual-cylinder cooperative control system.In order to improve the control performance of the system,three kinds of controllers are designed,namely PID controller,conventional sliding mode controller and fuzzy adaptive sliding mode controller.The optimal parameters of the controller are obtained by offline optimization of particle swarm optimization.Through the simulation of the single-cylinder position control and the double-cylinder cooperative control,the control effects of the three controllers are compared,and it is theoretically proved that the fuzzy adaptive sliding mode control method has better tracking performance and cooperative performance.And external interference has stronger robustness,and can effectively suppress the chattering phenomenon in conventional sliding mode control,which can meet the high-precision control required for single-blade installation of offshore wind turbines,and improve installation efficiency.The single-blade rotary hydraulic spreader improves the control performance and antidisturbance ability of the system through the combination of electro-hydraulic servo system and control algorithm,which can improve the installation efficiency of offshore wind turbine blades,and provide a certain theoretical basis and reference for the design and research of single-blade rotary spreaders for offshore wind turbines. |
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