工作艇收放装置关键技术及控制策略研究
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摘要
工作艇收放装置是一种应用于船舶上的特种起重机械，主要功能是在母船上降放和回收工作艇。它可以在复杂的海况下，母船摇摆运动中进行工作艇的收放操作，有着普通吊艇架无法比拟的优势。它对于海军夺岛作战、舰船补给、人员救护、海军的巡逻护航等具有重要意义，应用前景十分广阔。由于高海况下收放装置工作环境的复杂性，要求收放装置必须安全收放，这就要解决工作艇处于水中起升准备阶段的摇摆、起升到空中剧烈摆动等技术问题。因此本文根据收放装置波浪运动补偿及减摆控制技术的需要，通过对波浪运动补偿系统和工作艇减摆控制系统的控制策略研究、性能仿真分析和相关试验研究，研制能在高海况下安全收放的收放装置不仅对于收放装置的波浪运动补偿、工作艇姿态减摆控制等技术的理论水平有着重要的促进作用，而且对于提升我国海洋装备的技术水平、维护海洋权益以及满足军事需求都具有重要的现实意义。
本文在查阅大量国内外资料的基础上，综述了工作艇收放装置的工作原理和高海况收放的关键技术，并对其国内外研究现状进行了分析，确定了本文的研究内容和方向。按照工作艇的不同收放过程，分析了收放过程中船舶运动对工作艇姿态的影响以及运动补偿系统的作用。建立船舶运动非线性模型，为波浪运动补偿系统的分析建立了基础。根据波浪运动补偿系统的原理，建立了波浪补偿状态下工作艇的横摇、垂荡数学模型和波浪运动补偿系统的数学模型，为波浪运动补偿系统的仿真分析奠定基础。根据工作艇减摆阻尼控制系统的工作原理，分别建立了粘滞阻尼装置的数学模型和减摆控制系统的动力学模型，为工作艇减摆控制系统的控制策略研究打下了基础。
为了控制工作艇在水面时的姿态，设计了张力耗散补偿的波浪运动补偿绞车液压系统，建立了波浪运动补偿系统的动力学模型。基于母船及工作艇相对运动的分析，提出了波浪运动补偿系统最大设计速度的分析方法，研究了波浪运动补偿系统的速度特性；分析了波浪运动补偿系统的结构参数对系统性能的影响，并利用粒子群优化算法，对波浪运动补偿系统的参数进行了优化，并通过仿真分析证明了优化后结构参数的合理性。
根据减摆控制系统的工作原理及结构建立了被动式阻尼减摆控制系统的数学模型，基于振动分析理论设计了粘滞阻尼的减摆控制系统，据此构造了评价系统减摆控制的性能指标。基于系统工作状况的分析，研究了阻尼器对系统特性的影响、工作艇总重和收放装置吊点位置等参数对减摆控制系统性能的影响。仿真结果表明，根据船舶运动、工作艇重量和吊点位置等设计的阻尼器参数能够起到很好的减摆控制效果。
由于被动式减摆控制系统的功能局限性，提出了主动式减摆控制方案，并建立系统的仿真数学模型；根据系统欠驱动的特性设计了主动式减摆控制器，并对主动式减摆控制进行了分析研究，为主动式工作艇收放装置的研制奠定了理论基础。
利用收放装置的试验台架，构建收放装置的实验系统，并对收放装置的波浪运动补偿系统和减摆控制系统进行了实验研究，验证了波浪运动补偿系统的性能和减摆控制系统的控制策略的有效性。
The working boat davit is a special type of hoisting equipment on ships. Its function is tolaunch and recovery working boat on mother ship. The launch and recovery of the workingboat when the mother ship is rolling in complex sea states can be carried out safely with it,which is impossible for ordinary davits. The working boat davit is absolutely necessary forisland capture, supply on the sea, persons rescue, patrol and escort of the navy. It has broadapplication prospects. As the working environment of the davit is complex, the launch andrecovery of the boat must be safe. It means that the problem of attitude control when theworking boat is prepared to be lifted and the problem of violent swings reducing when theworking boat is in the air must be solved. To meet the requirements of wave motioncompensation technology and swing reducing technology, developing the davit that can beused safely in high sea state by studying control methods of wave motion compensationsystem and swing reducing system, simulating the performance and carrying out relevantexperiments is not only an important development in theories of wave motion compensationtechnology and swings reducing technology of the davit, but also of great significant to thetechnology developments of domestic marine equipments, the defence of maritime rights andinterests and it satisfies the needs in military.
The paper summarizes the principle of the working boat davit and key technologies oflaunch and recovery the boat in high sea state, the present situations were analysed and thedirection and content of the paper was determined which based on consulting manydocuments that are domestic or abroad. The influences of the ship to attitude of the workingboat and the effects of the wave compensation system were analysed according to differentprocesses of launch and recovery. The nonlinear model of ship motion is built which providesthe foundation of the analysis of the wave motion compensation system. The mathematicalmodels of rolling and heave of the working boat with the wave motion compensation systemactive were built and the mathematical model of the wave motion compensation system wasbuilt, with provide the foundation of simulation of the system. The mathematical model ofviscous damping devise and the dynamic model of the swing reducing system were built onthe basis of the principle of the damping swing reducing system, which laid the foundation ofthe study of the damping swing reducing system.
To control the attitude of the boat on the water, the hydraulic winch system of the wavemotion compensation system using tension dissipation compensation technology wasdeveloped, and the mathematical model of the wave motion compensation system was built. Based on the analysis of the relative motions between the boat and the mother ship, theanalytic method of the maximum design velocity of the wave compensation was proposed,and the velocity characteristic of the system was studied. The effects of the structureparameters were discussed and the parameters were optimized by using the particle swarmoptimization algorithm (PSO). The rationality of the parameters was corroborated bysimulation.
The mathematical model of the passive damping swing reducing system was built on thebasis of its principle, and the viscous damping swing reducing system was designed based onvibration analysis, and the performance indexes of the swing reducing system were proposed.The effects of the damper, the weight of the boat and the position of the hoisting point werestudied based on the working condition analysis of the system. The simulations showed thatthe damper parameters designed by ship motion, the weight of the boat and the position of thehoisting point worded well.
As the limitations of the passive swing reducing system, the active swing reducing systemwas proposed, and the mathematical models of the system ware built. As the system isunderactuated, the active swing reducing controller is designed and the control method wasstudied. What are mentioned above provide the foundation of the active swing reducingsystem.
The experiments of wave compensation system and swing reducing system are carried outby using the ship motion simulation equipment. The indexes of compensation characteristicsare obtained, and the method that control the attitude of working boat by using wavecompensation technology and swing reducing technology proves to be effective.
本文在查阅大量国内外资料的基础上，综述了工作艇收放装置的工作原理和高海况收放的关键技术，并对其国内外研究现状进行了分析，确定了本文的研究内容和方向。按照工作艇的不同收放过程，分析了收放过程中船舶运动对工作艇姿态的影响以及运动补偿系统的作用。建立船舶运动非线性模型，为波浪运动补偿系统的分析建立了基础。根据波浪运动补偿系统的原理，建立了波浪补偿状态下工作艇的横摇、垂荡数学模型和波浪运动补偿系统的数学模型，为波浪运动补偿系统的仿真分析奠定基础。根据工作艇减摆阻尼控制系统的工作原理，分别建立了粘滞阻尼装置的数学模型和减摆控制系统的动力学模型，为工作艇减摆控制系统的控制策略研究打下了基础。
为了控制工作艇在水面时的姿态，设计了张力耗散补偿的波浪运动补偿绞车液压系统，建立了波浪运动补偿系统的动力学模型。基于母船及工作艇相对运动的分析，提出了波浪运动补偿系统最大设计速度的分析方法，研究了波浪运动补偿系统的速度特性；分析了波浪运动补偿系统的结构参数对系统性能的影响，并利用粒子群优化算法，对波浪运动补偿系统的参数进行了优化，并通过仿真分析证明了优化后结构参数的合理性。
根据减摆控制系统的工作原理及结构建立了被动式阻尼减摆控制系统的数学模型，基于振动分析理论设计了粘滞阻尼的减摆控制系统，据此构造了评价系统减摆控制的性能指标。基于系统工作状况的分析，研究了阻尼器对系统特性的影响、工作艇总重和收放装置吊点位置等参数对减摆控制系统性能的影响。仿真结果表明，根据船舶运动、工作艇重量和吊点位置等设计的阻尼器参数能够起到很好的减摆控制效果。
由于被动式减摆控制系统的功能局限性，提出了主动式减摆控制方案，并建立系统的仿真数学模型；根据系统欠驱动的特性设计了主动式减摆控制器，并对主动式减摆控制进行了分析研究，为主动式工作艇收放装置的研制奠定了理论基础。
利用收放装置的试验台架，构建收放装置的实验系统，并对收放装置的波浪运动补偿系统和减摆控制系统进行了实验研究，验证了波浪运动补偿系统的性能和减摆控制系统的控制策略的有效性。
The working boat davit is a special type of hoisting equipment on ships. Its function is tolaunch and recovery working boat on mother ship. The launch and recovery of the workingboat when the mother ship is rolling in complex sea states can be carried out safely with it,which is impossible for ordinary davits. The working boat davit is absolutely necessary forisland capture, supply on the sea, persons rescue, patrol and escort of the navy. It has broadapplication prospects. As the working environment of the davit is complex, the launch andrecovery of the boat must be safe. It means that the problem of attitude control when theworking boat is prepared to be lifted and the problem of violent swings reducing when theworking boat is in the air must be solved. To meet the requirements of wave motioncompensation technology and swing reducing technology, developing the davit that can beused safely in high sea state by studying control methods of wave motion compensationsystem and swing reducing system, simulating the performance and carrying out relevantexperiments is not only an important development in theories of wave motion compensationtechnology and swings reducing technology of the davit, but also of great significant to thetechnology developments of domestic marine equipments, the defence of maritime rights andinterests and it satisfies the needs in military.
The paper summarizes the principle of the working boat davit and key technologies oflaunch and recovery the boat in high sea state, the present situations were analysed and thedirection and content of the paper was determined which based on consulting manydocuments that are domestic or abroad. The influences of the ship to attitude of the workingboat and the effects of the wave compensation system were analysed according to differentprocesses of launch and recovery. The nonlinear model of ship motion is built which providesthe foundation of the analysis of the wave motion compensation system. The mathematicalmodels of rolling and heave of the working boat with the wave motion compensation systemactive were built and the mathematical model of the wave motion compensation system wasbuilt, with provide the foundation of simulation of the system. The mathematical model ofviscous damping devise and the dynamic model of the swing reducing system were built onthe basis of the principle of the damping swing reducing system, which laid the foundation ofthe study of the damping swing reducing system.
To control the attitude of the boat on the water, the hydraulic winch system of the wavemotion compensation system using tension dissipation compensation technology wasdeveloped, and the mathematical model of the wave motion compensation system was built. Based on the analysis of the relative motions between the boat and the mother ship, theanalytic method of the maximum design velocity of the wave compensation was proposed,and the velocity characteristic of the system was studied. The effects of the structureparameters were discussed and the parameters were optimized by using the particle swarmoptimization algorithm (PSO). The rationality of the parameters was corroborated bysimulation.
The mathematical model of the passive damping swing reducing system was built on thebasis of its principle, and the viscous damping swing reducing system was designed based onvibration analysis, and the performance indexes of the swing reducing system were proposed.The effects of the damper, the weight of the boat and the position of the hoisting point werestudied based on the working condition analysis of the system. The simulations showed thatthe damper parameters designed by ship motion, the weight of the boat and the position of thehoisting point worded well.
As the limitations of the passive swing reducing system, the active swing reducing systemwas proposed, and the mathematical models of the system ware built. As the system isunderactuated, the active swing reducing controller is designed and the control method wasstudied. What are mentioned above provide the foundation of the active swing reducingsystem.
The experiments of wave compensation system and swing reducing system are carried outby using the ship motion simulation equipment. The indexes of compensation characteristicsare obtained, and the method that control the attitude of working boat by using wavecompensation technology and swing reducing technology proves to be effective.
引文
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