海洋平台定位系统设计.rar

海洋平台定位系统设计

原创硕士论文

摘 要
海洋资源极为丰富，开发海洋资源成为各国追逐的热点，直接带动了国际海洋工程装备业迅猛发展，从而出现了海上系泊自动定位系统供不应求的状况，而目前系泊自动定位系统设计制造技术一直被国外垄断，因而严重制约了我国海洋工程装备业的发展。连续两个五年规划，海洋工程装备都是我国重点发展的16项重大技术装备之一，而系泊自动定位系统是海洋工程装备不可缺少的关键设备，对其研究不仅具有深远的社会意义，更具经济发展的现实意义。
海洋平台的定位方式随深度可分为自升式固定平台、半潜式锚泊定位平台和深水动力定位平台，本文研究的是半潜式海洋平台锚泊定位控制系统。本文首先介绍了海洋平台定位系统研究的背景和海洋平台的分类，分析了海洋平台的发展现状和平台的结构，阐释了未来半潜式海洋平台的发展趋势，提出了锚泊定位控制的方法；即由中央计算机控制八台基于PLC控制的系泊绞车，通过风浪检测、波浪预报，协调八台系泊绞车以速度控制、同步控制和恒张力控制的不同运行模式，实现海洋作业平台的定位和系泊安全。
文中对海洋平台的系泊方式和钢缆系泊形式进行了分析，建立了半潜式海洋平台一阶阵型的数学模型，对系泊钢缆的受力进行了计算和分析，给出了海洋平台解耦计算的方法和实时预报的计算方法。提出了液压系统驱动方案和更适于系泊绞车的速度控制（或同步控制）与恒张力控制的控制算法（伪微分（PDF）反馈控制）；同时针对在工程实践中，由于外界的干扰和控制器输出的限制，采用了抗积分饱和解决实际系泊绞车运行过程中可腀@鱿值奈侍狻Ｎ闹谢垢隽艘貉乖硗迹治隽似涔ぷ髟恚⒔樯芰寺泶锿娇刂评砺郏⒘朔Э芈泶锎莺Ⅻbr>最后介绍了海洋平台定位系统绞车速度控制、同步控制、恒张力控制的模拟试验平台的搭建，编写了满足试验要求的系统软件。经过仿真软件的仿真认证和模拟试验平台的模拟实验，证明理论分析正确，控制方法得当，达到了论文研究的目的和要求。
关键词：系泊绞车；液压系统；同步控制；恒张力控制；伪微分控制算法；
实验系统



ABSTRACT
　　　The thesis mainly researches into the mooring positioning winch of the semi-submersible offshore platform in different working conditions of speed control, synchronous control and constant tension control, the achievement of the hydraulic system with switching function among different running modes, also the design of the control system and pilot system.
　　　Firstly, after referring to a large number of documents in recent years both home and abroad, I have a comprehensive understanding of marine platform positioning system, such as the platform、mechanism and its developing trend. These are the bases of my innovation research. To apply the matrix analytical method of multi-body system, I get the one-order mathematical model of offshore platform. Cable deformation is analyzed by applying differential and integral principals. At last I put forward decoupling calculation method of the offshore platform dynamic power and its real-time forecasting method.
Secondly, with comparison of the hydraulic system driving scheme, I study on the load-sensitive technology of mooring winch, speed control, synchronous control, constant tension control, them-related fuel lines connecting and switching mode, load-balanced loop, brake loop, two constant tension motors’ oil-supplying connections, the calculation of figure of the constant tension and the setting method, the synchronous control between drum motor and cable-rowed lead screw and the cable-charged or cable-laid principal of mooring winch and its testing scheme.
Thirdly, in fact, in the control system, by taking account of both the power constraint of final-end control unit and the special response characteristics of step signal, we deduce the parameters of PDF controller of first-order and second-order system. With the comparison of PI controller with PDF controller to first-order system and the comparison PID controller with PDF controller to second-order system, we know the advantages of PDF control. It also introduces a method to solve saturated control in practical objects—anti-saturated integral.
Finally, it analyses the theory of synchronous control of hydraulic motor, deduces the transfer function of valve-controlled motors. A series of simulations show the stability of synchronization control of hydraulic motor system. The thesis analyzes the reason for the error of motor in the process of running、the solutions and its measures.
　　Keyword: Mooring Winch; Hydraulic System; Synchronous Control ; Constant Tension Control; Pseudo-Derivative-Feedback control (PDF); Experimental system

目录
摘 要 I
ABSTRACT III
第1章 概论 1
1.1 研究背景 1
1.2 海洋平台的分类与研究现状 2
1.2.1 海洋平台的分类 2
1.2.2 海洋平台研究现状 3
1.3 半潜式海洋平台的构成与发展趋势 4
1.3.1 半潜式海洋平台的构成 4
1.3.2 半潜式海洋平台的发展趋势[4] 4
1.4 论文选题意义及研究内容 5
1.4.1 本论文选题意义 5
1.4.2 本论文主要研究内容 5
1.5 本章小结 6
第2章 海洋平台的数学模型 7
2.1 系泊方式 7
2.1.1 系泊系统布置形式 7
2.1.2 钢缆系泊形式 7
2.2 海洋平台数学模型 8
2.3 钢缆受力分析 9
2.4 系泊下的静力分析 11
2.4.1 锚泊线平衡方程 11
2.4.2 系统回复力 12
2.5 解耦计算与实时预报 13
2...