Modeling and Co-simulation of Novel Electric Heave Compensation System

doi:10.16182/j.issn1004731x.joss.201808019

Abstract

Abstract: This paper presents a novel large electric heave compensation system with gear and rack driving mechanism, as comparison to those traditional hydraulic heave compensation systems which have complex structure and poor compensation accuracy. The mechanical-mathematical model of this compensation system is analyzed. According to the control requirement of the heave absolute displacement compensation, the relationship between the input angle of the motor and the excitation of the vessel’s displacement is obtained through the motion equation of the system. A virtual prototype is built with ADAMS, and the dynamic behaviors are simulated in accordance with its configuration and working principle. The effectiveness of the heave compensation system as well as the design parameters is verified. Because the heave signal acquired by the vessel is unknown, it is necessary to introduce the feedback control for more accurate active compensation. The feedback control system model is built with Simulink, and the co-simulation is conducted with ADAMS. The simulation result shows that this electric compensation system can well achieve heave compensation function, and has advantage of high accuracy by PID control.

Key words: heave compensation, dynamic model, PID control, co-simulation

CLC Number:

TP391.9

Zhang Qing, Xia Hua, Yang Ning, Qin Xianrong, Sun Yuantao. Modeling and Co-simulation of Novel Electric Heave Compensation System[J]. Journal of System Simulation, 2018, 30(8): 2973-2981.

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