本文選題：起重機 + 垂直繩索系統(tǒng)��； 參考：《大連海事大學(xué)》2015年碩士論文

【摘要】：隨著全球?qū)５子蜌赓Y源的開發(fā)利用向深海的范圍擴展,深水起重機已逐漸成為海洋工程作業(yè)中的關(guān)鍵裝備之一。在進行水下生產(chǎn)系統(tǒng)的安裝時,由于深海的復(fù)雜海況,吊裝鋼纜所受到的載荷以及由于船舶和環(huán)境擾動造成的系統(tǒng)隨機運動讓水下生產(chǎn)系統(tǒng)的安裝難度大大增加。這些負面的影響增加了吊裝作業(yè)的工作時間,加大了在惡劣海況下作業(yè)的風(fēng)險。為了讓深水起重作業(yè)更加安全和高效,有必要對深水起重機負載特性進行研究。本文采用理論研究、計算機建模與仿真相結(jié)合的研究方法對起重機的負載特性以及波浪補償控制策略進行研究。主要的研究工作為建立吊裝鋼纜、吊重物、船舶運動的數(shù)學(xué)模型,得到了吊裝鋼纜的二階運動微分方程；用Matlab中的Simulink工具箱完成了模型的仿真工作,得到了500m和2000m長的鋼絲繩在波浪的擾動下的彈性伸長量時變曲線,并由此計算出吊物在深水中的位移曲線。使用有限元分析軟件ANSYS對起重機繩索系統(tǒng)進行結(jié)構(gòu)建模。與前文搭建的數(shù)學(xué)模型仿真結(jié)果相比,最后得到的吊物的位置變化曲線非常接近。在沒有做實驗的情況下,最大程度的證明了兩個模型搭建的準(zhǔn)確性與可信性。最后,選用了PID作為控制策略,并對控制策略進行了Simulink仿真；仿真結(jié)果表明：采用PID控制策略后吊物位移曲線的超調(diào)量明顯減少,吊物在垂直維度的偏移量降低了約49%。
[Abstract]:With the development and utilization of submarine oil and gas resources in the world, deep water cranes have gradually become one of the key equipment in marine engineering. During the installation of underwater production system, the installation difficulty of underwater production system is greatly increased due to the complex sea conditions in the deep sea, the load of hoisting steel cable and the random motion of the system caused by ship and environment disturbance. These negative effects increase the working hours of hoisting operations and increase the risk of operating under adverse sea conditions. In order to make deep water crane more safe and efficient, it is necessary to study the load characteristics of deep water crane. In this paper, theoretical research, computer modeling and simulation are used to study the load characteristics of crane and wave compensation control strategy. The main research work is to establish the mathematical model of hoisting steel cable, lifting heavy object and ship motion, and get the second order motion differential equation of hoisting steel cable, and finish the simulation work of the model with Simulink toolbox in Matlab. The time-varying elastic elongation curves of 500m and 2000m long wire ropes under wave disturbance are obtained, and the displacement curves of suspended objects in deep water are calculated. The finite element analysis software ANSYS is used to model the crane rope system. Compared with the simulation results of the previous mathematical model, the position change curve of the suspended object obtained is very close. In the absence of experiments, the accuracy and credibility of the two models are proved to the greatest extent. Finally, PID is selected as the control strategy and the control strategy is simulated by Simulink. The simulation results show that the overshoot of the displacement curve of the suspended object is obviously reduced and the deviation of the suspended object in the vertical dimension is reduced by about 49.9% after using the PID control strategy.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U674.35

【參考文獻】

相關(guān)期刊論文 前2條

1 林超友,朱軍;潛艇近海底航行附加質(zhì)量數(shù)值計算[J];船舶工程;2003年01期

2 顧沖時;有限元法在分析拱壩壩肩穩(wěn)定中的應(yīng)用[J];大壩觀測與土工測試;1996年03期

相關(guān)博士學(xué)位論文 前2條

1 楊震;大型船舶橫搖運動姿態(tài)預(yù)報技術(shù)研究[D];哈爾濱工程大學(xué);2013年

2 施平安;艦船并靠波浪補償研究[D];華南理工大學(xué);2013年

相關(guān)碩士學(xué)位論文 前3條

1 劉玲玲;PID參數(shù)整定技術(shù)的研究及應(yīng)用[D];鄭州大學(xué);2010年

2 王恭義;物體在帶自由表面的流體中作任意運動的附加質(zhì)量[D];大連理工大學(xué);2007年

3 馬云飛;基于擾動補償?shù)拇皺M向運動LQG控制研究[D];哈爾濱工程大學(xué);2009年

，

本文編號：1834365