用于海上风力发电机的改进船载登乘栈桥主动波浪补偿方法  

An improved active wave compensation method for shipborne boarding trestle of offshore wind turbines

作　　者：樊帆 郑皓[1] 吴伟 石山 彭赛锋 FAN Fan;ZHENG Hao;WU Wei;SHI Shan;PENG Saifeng(State Key Laboratory of Deep Sea Mineral Resources Development and Utilization Technology,Changsha Research Institute of Mining and Metallurgy,Changsha 410012,Hunan,China;National Research Center for Metal Mining Engineering Technology,Changsha 410012,Hunan,China)

机构地区：[1]长沙矿冶研究院有限责任公司深海矿产资源开发利用技术国家重点实验室,湖南长沙410012 [2]国家金属采矿工程技术研究中心,湖南长沙410012

出　　处：《上海海事大学学报》2024年第2期20-28,共9页Journal of Shanghai Maritime University

基　　金：国家重点研发计划(2021YFC2801700)。

摘　　要：在维修海上风力发电机时发现传统船载登乘栈桥主动波浪补偿系统存在求解精度低、控制响应慢的问题。为此,提出基于Denavit-Hartenburg法的栈桥空间位姿解算方法,并使用参考系转换的方法降低逆运动求解难度;设计前馈Smith预估补偿PID控制器,解决传统PID控制器跟踪动态信号存在的长延时问题;结合船载登乘栈桥的动力学模型,采用Simulink软件进行仿真控制实验。实验结果表明,在低海况且控制系统的延迟时间取0.24 s时,改进后的船载登乘栈桥主动波浪补偿方法使栈桥的最大偏移量减小了79.3%,以平均偏移标准差作为栈桥稳定性评估依据时其稳定性提升了79.6%。由此可见:该补偿方法具有良好的波浪补偿能力,同时还具有快速求解和时间延迟包容性等优点,有利于提高实时补偿系统的整体控制精度和响应速度。In the service process of offshore wind turbines,it is found that the traditional active wave compensation systems for shipborne boarding trestle have the problems of low solution accuracy and slow control response.In order to solve these problems,a trestle space posture solution method based on Denavit-Hartenburg method is proposed,and the method of reference system conversion is used to reduce the difficulty of inverse motion solution;PID controller with feedforward control based on Smith predictor compensation is designed to reduce the long delay of the traditional PID controllers in tracking the dynamic signals;combined with the dynamic model of the shipborne boarding trestle,a simulation control experiment is conducted by Simulink software.The experiment results show that under the conditions of the low sea state and the time delay of the control system setting 0.24 s,the improved active wave compensation method for shipborne boarding trestle reduces the maximum offset of the trestle by 79.3%.With the standard deviation of the average offset as the basis for trestle stability evaluation,the stability of the trestle increases by 79.6%.In conclusion,the proposed compensation method has a good wave compensation capability,and also has the advantages of fast calculation and time delay tolerance,which is benefical for improving the overall control accuracy and response speed of the real-time compensation system.

关 键 词：船载登乘栈桥 波浪补偿 电液伺服系统 SMITH预估器 

分 类 号：U664.4[交通运输工程—船舶及航道工程]