海上自升式安装船环境载荷分析与桩腿驱动控制研究
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摘要
近些年，世界范围内的能源越来越紧张，海上风能开发成为当前研究的课题之一。海上风能作为可再生的环保能源，首先在欧洲得到了迅速的发展，我国近几年海上风电开发也进入了起步阶段。在国外海上风电建设中使用的各种工程船中，自升式安装船因其自升自航的特点及工作时受海洋环境影响小的优点得到了广泛的使用。本文分别对自升式安装船的桩腿升降系统结构、工作环境载荷、安装船桩腿系统的动力学、锁紧系统的阀控非对称液压缸系统的对称性控制、升降系统多液压马达的同步性等主要关键技术问题进行研究。
设计了自升式海上风电安装船桁架式桩腿的齿轮齿条升降系统与齿条楔块式液压锁紧系统的结构，其中的齿轮升降系统由动力源、二级齿轮减速器及二级行星减速器组合的传动系统、升降小齿轮组成；升降小齿轮作为低速重载工况下的传动件，其强度及接触性能直接影响安装船桩腿工作的可靠性，在正常与应急两种工况下对升降齿轮分别进行了四种接触情况的有限元分析，优化了小齿轮的结构，改善了低速重载齿轮与齿条啮合性能。
建立了桩腿的静力学模型及环境载荷的数学模型，根据自升式安装船的作业环境及技术参数要求，以线性艾里波理论为基础，建立了垂直和任意倾斜角度下的桩腿波浪载荷力学模型，从时域角度对桩腿进行了波浪载荷分析与仿真，研究了波浪载荷主要特征参数变化对桩腿载荷的影响，为桩腿升降系统的设计提供了必要的理论基础。
依据动力学基本方程，对安装船桩腿进行了风浪流载荷耦合作用下的动力响应分析；分析了安装船桩腿的模态与振型，保证桩腿结构刚度合适，以避免安装船桩腿在耦合载荷作用下发生共振；并采用频谱分析法分析安装船桩腿系统受耦合载荷作用下的动力响应，验证结构设计的合理性。
在桩腿液压锁紧系统中，由于阀控非对称液压缸两个运动方向上系统的开环增益及某些参数的不同，使得两个方向上的动态特性不对称，这种本质上的非线性给液压锁紧系统的对称控制带来困难；在桩腿锁紧系统的液压控制中采用状态观测器，在两个运动方向上对各种外部扰动进行估计并通过前馈对系统进行补偿，提高液压系统的刚度和鲁棒性；针对传统PID控制对模型依赖性强和参数难以在线调整，提出基于伸缩因子的变论域模糊自适应PID控制策略，更符合阀控非对称液压缸锁紧系统的控制特点，可以明显提高系统的运动性能，使阀控非对称液压缸锁紧系统具有良好的动、静态性能。
在单桩腿驱动系统中，多液压马达同步控制是桩腿运动控制的关键问题之一。在多液压马达同步控制系统中，为克服参数不确定性及外干扰的影响，提出了基于模糊切换增益调节滑模控制器对单个液压马达进行控制，以保证单个液压马达在系统结构不确定时具有较稳定的跟踪；并将模糊切换增益调节滑模控制器引进相邻多液压马达交叉耦合控制当中，研究的多液压马达同步解耦控制算法仅考虑毗邻的两个马达运动信息，有利于解耦控制器的控制律设计，可以保证多液压马达的位置误差和同步误差迅速趋于零，实现多液压马达控制系统的同步控制。
In recent years, energy has become more and more severe in worldwide, the offshorewind energy has been become one of the research topic. The offshore wind energy isrecognized as a renewable energy source, it has been developed rapidly in Europe, andChina’s offshore wind power is going to enter readily into the research and development stage.Various engineering ship of offshore wind power construction is taken into account, thejack-up installation vessel has been widely used as the characteristics of self-elevating andself-propelled and little affection by the marine environment. The leg lift system, the lockingsystems, the work environment load, dynamics, the asymmetric hydraulic cylinder controlsystem of locking systems, the hydraulic motors synchronization of the jack-up installationvessel were taken as the main key technologies, these key technologies were respectivelystudied in this paper.
Both the rack-pinion lifting system of truss leg and the hydraulic locking system of rackwedge were designed in the jack-up offshore wind power installation, the gear lifting systeminclude the power source, the secondary gear reducer, the transmission system composed by2-type planetary gear reducer and pinion with heavy overloaded. The strength and contactproperties of the lifting pinion as low speed and heavy load transmission directly affect thereliability of the installation vessel, the four kinds of contact finite element analysis werecarried out in both normal and emergency conditions, the structure of pinion was optimized,five kinds of measures were obtained to improve the performance of rack and pinion meshing.
The static model and the environmental load model of truss leg were establish, accordingto operating environment and technology parameters of the jack-up installation vessel, thewave load model of truss leg was established at vertical and any inclination angle based onthe linear AIRY wave theory, the analysis and simulation of wave loads were conducted fromthe perspective of time-domain, the main features parameters of wave load effecting on thetruss load was studied, the necessary theoretical basis for the design of truss lifting system isprovided.
According to the dynamics basic equation, the dynamic response of truss leg of theinstallation vessel was analyzed under storm flow coupling loads in standing state. The truss leg’s modal shapes and the vibration mode of the installation vessels were analyzed, it isreasonable to guarantee the truss leg’s stiffness of installation vessels, the resonance can beavoided under the coupling load. The spectrum analysis method is adopted to analyze thedynamic response under the coupling loads, the reasonableness of the structural design isverified.
In the hydraulic locking system of truss leg, as the open-loop gain and the parameters ofvalve controlled asymmetric hydraulic cylinder are different in both directions, the dynamicnature may be asymmetry in both directions, it is difficult to symmetrical control as the naturenonlinear of the hydraulic lock system. The state observer was adopted to estimate theinterferences, and then the feed-forward loop were adopt to resist the influence, the stiffnessand the robustness of hydraulic system could be improved, because traditional PID controlstrongly depend on the model and are difficult to online adjust parameter, the variableuniverse fuzzy PID control is put forward, this control method is in accordance with thecontrol features of hydraulic cylinder locking system, the performance of the system motioncan be significantly improved, the valve controlled asymmetric hydraulic cylinder system hasgood dynamic and static performance.
In the drive control of the leg, synchronization control at the multiple hydraulic motors isone of the key technologies problems on the leg’s motion control. In its control, the tuningsliding mode controller based on fuzzy switching gain is adopted to control a hydraulic motor,in order to overcome the parameter uncertainty and the external disturbances, this algorithmstructure can ensure a more stable tracking when structure uncertainty. The the tuning slidingmode controller based on fuzzy switching gain was introduced into the cross-coupling control,the two adjacent motors are only considered in cross-coupling control, the decoupling controlalgorithm only reflects the motion information of the two adjacent motors instead of allmotors, it is helpful to design the decoupling controller control law, both the position errorand the synchronization error of the multiple hydraulic motors can be tended to zero rapidly,the decoupling control can make the output of all the motors to synchronize quickly.
设计了自升式海上风电安装船桁架式桩腿的齿轮齿条升降系统与齿条楔块式液压锁紧系统的结构，其中的齿轮升降系统由动力源、二级齿轮减速器及二级行星减速器组合的传动系统、升降小齿轮组成；升降小齿轮作为低速重载工况下的传动件，其强度及接触性能直接影响安装船桩腿工作的可靠性，在正常与应急两种工况下对升降齿轮分别进行了四种接触情况的有限元分析，优化了小齿轮的结构，改善了低速重载齿轮与齿条啮合性能。
建立了桩腿的静力学模型及环境载荷的数学模型，根据自升式安装船的作业环境及技术参数要求，以线性艾里波理论为基础，建立了垂直和任意倾斜角度下的桩腿波浪载荷力学模型，从时域角度对桩腿进行了波浪载荷分析与仿真，研究了波浪载荷主要特征参数变化对桩腿载荷的影响，为桩腿升降系统的设计提供了必要的理论基础。
依据动力学基本方程，对安装船桩腿进行了风浪流载荷耦合作用下的动力响应分析；分析了安装船桩腿的模态与振型，保证桩腿结构刚度合适，以避免安装船桩腿在耦合载荷作用下发生共振；并采用频谱分析法分析安装船桩腿系统受耦合载荷作用下的动力响应，验证结构设计的合理性。
在桩腿液压锁紧系统中，由于阀控非对称液压缸两个运动方向上系统的开环增益及某些参数的不同，使得两个方向上的动态特性不对称，这种本质上的非线性给液压锁紧系统的对称控制带来困难；在桩腿锁紧系统的液压控制中采用状态观测器，在两个运动方向上对各种外部扰动进行估计并通过前馈对系统进行补偿，提高液压系统的刚度和鲁棒性；针对传统PID控制对模型依赖性强和参数难以在线调整，提出基于伸缩因子的变论域模糊自适应PID控制策略，更符合阀控非对称液压缸锁紧系统的控制特点，可以明显提高系统的运动性能，使阀控非对称液压缸锁紧系统具有良好的动、静态性能。
在单桩腿驱动系统中，多液压马达同步控制是桩腿运动控制的关键问题之一。在多液压马达同步控制系统中，为克服参数不确定性及外干扰的影响，提出了基于模糊切换增益调节滑模控制器对单个液压马达进行控制，以保证单个液压马达在系统结构不确定时具有较稳定的跟踪；并将模糊切换增益调节滑模控制器引进相邻多液压马达交叉耦合控制当中，研究的多液压马达同步解耦控制算法仅考虑毗邻的两个马达运动信息，有利于解耦控制器的控制律设计，可以保证多液压马达的位置误差和同步误差迅速趋于零，实现多液压马达控制系统的同步控制。
In recent years, energy has become more and more severe in worldwide, the offshorewind energy has been become one of the research topic. The offshore wind energy isrecognized as a renewable energy source, it has been developed rapidly in Europe, andChina’s offshore wind power is going to enter readily into the research and development stage.Various engineering ship of offshore wind power construction is taken into account, thejack-up installation vessel has been widely used as the characteristics of self-elevating andself-propelled and little affection by the marine environment. The leg lift system, the lockingsystems, the work environment load, dynamics, the asymmetric hydraulic cylinder controlsystem of locking systems, the hydraulic motors synchronization of the jack-up installationvessel were taken as the main key technologies, these key technologies were respectivelystudied in this paper.
Both the rack-pinion lifting system of truss leg and the hydraulic locking system of rackwedge were designed in the jack-up offshore wind power installation, the gear lifting systeminclude the power source, the secondary gear reducer, the transmission system composed by2-type planetary gear reducer and pinion with heavy overloaded. The strength and contactproperties of the lifting pinion as low speed and heavy load transmission directly affect thereliability of the installation vessel, the four kinds of contact finite element analysis werecarried out in both normal and emergency conditions, the structure of pinion was optimized,five kinds of measures were obtained to improve the performance of rack and pinion meshing.
The static model and the environmental load model of truss leg were establish, accordingto operating environment and technology parameters of the jack-up installation vessel, thewave load model of truss leg was established at vertical and any inclination angle based onthe linear AIRY wave theory, the analysis and simulation of wave loads were conducted fromthe perspective of time-domain, the main features parameters of wave load effecting on thetruss load was studied, the necessary theoretical basis for the design of truss lifting system isprovided.
According to the dynamics basic equation, the dynamic response of truss leg of theinstallation vessel was analyzed under storm flow coupling loads in standing state. The truss leg’s modal shapes and the vibration mode of the installation vessels were analyzed, it isreasonable to guarantee the truss leg’s stiffness of installation vessels, the resonance can beavoided under the coupling load. The spectrum analysis method is adopted to analyze thedynamic response under the coupling loads, the reasonableness of the structural design isverified.
In the hydraulic locking system of truss leg, as the open-loop gain and the parameters ofvalve controlled asymmetric hydraulic cylinder are different in both directions, the dynamicnature may be asymmetry in both directions, it is difficult to symmetrical control as the naturenonlinear of the hydraulic lock system. The state observer was adopted to estimate theinterferences, and then the feed-forward loop were adopt to resist the influence, the stiffnessand the robustness of hydraulic system could be improved, because traditional PID controlstrongly depend on the model and are difficult to online adjust parameter, the variableuniverse fuzzy PID control is put forward, this control method is in accordance with thecontrol features of hydraulic cylinder locking system, the performance of the system motioncan be significantly improved, the valve controlled asymmetric hydraulic cylinder system hasgood dynamic and static performance.
In the drive control of the leg, synchronization control at the multiple hydraulic motors isone of the key technologies problems on the leg’s motion control. In its control, the tuningsliding mode controller based on fuzzy switching gain is adopted to control a hydraulic motor,in order to overcome the parameter uncertainty and the external disturbances, this algorithmstructure can ensure a more stable tracking when structure uncertainty. The the tuning slidingmode controller based on fuzzy switching gain was introduced into the cross-coupling control,the two adjacent motors are only considered in cross-coupling control, the decoupling controlalgorithm only reflects the motion information of the two adjacent motors instead of allmotors, it is helpful to design the decoupling controller control law, both the position errorand the synchronization error of the multiple hydraulic motors can be tended to zero rapidly,the decoupling control can make the output of all the motors to synchronize quickly.
引文
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