【作者】 崔东坡；

【导师】 梁利华；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2010， 硕士

【摘要】 吊艇架是用于降放和收回小艇的海上作业设备,它的任务是保证舰船上的小艇和人员快速、安全地降放至水面,并将小艇和人员安全地收回到舰船上。在高海况下,小艇受船舶摇荡运动影响产生摆振,使其成为了吊艇架系统安全高效运行的瓶颈。对吊艇架系统实施有效的抗摆控制可以极大的提高其海上作业的安全性和高效性,这在民用和军事领域均具有重要的意思和实用价值。本课题从工程应用出发,对吊艇架被动式抗摆技术进行了研究。首先分析吊艇架抗摆系统的结构及工作原理,研究吊艇架系统摆振动力学机理及液压阻尼器的基本原理,为吊艇架系统的动力学模型的建立和被动式抗摆系统的设计提供了理论依据和技术基础;船舶摇荡是吊艇架系统摆振的主要原因,在对船舶在海浪作用下的运动响应进行分析的基础上,建立了在船舶横摇、纵摇激励下,吊艇架系统与船舶摇摆之间的关系。其次,采用拉格朗日方程及其相关方法,建立了吊艇架系统二自由度摆振的数学模型,并仿真验证了其正确性;通过分析摆振模型并对其进行合理简化,建立了抗摆系统的单自由度动力学模型,根据影响小艇摆振的主要因素设计了抗摆液压阻尼装置的相关参数。最后,通过AMESim仿真软件建立了吊艇架系统的虚拟样机模型,在不同海况下,验证了被动式抗摆系统的有效性;通过改变船舶、小艇参数的方式验证了被动式抗摆系统的适应性能,并提出提高抗摆系统适应性能的有效方案。论文的仿真研究证明建立的数学模型及设计的抗摆系统理论上是可行的,有关研究内容正在相关实际工程中采用。更多还原

【Abstract】 The davit is offshore operations equipment which is used in the retractable boat. Its mission is to ensure the ship’s boat and personnel quickly and safely put down to the surface, and the boats and personnel on the ship safely retracts Due to the influence of motion of the ship in abominable sea condition, the boat appears pendulating, the pendulation of the boat has become the bottleneck of safe and efficient system operation. Therefore, the anti-pendulation control of davit can greatly improve security and efficiency of offshore operations, the research has a great significance and in the civil and military areas.Aiming at the engineering application, the research is done on the passive style anti-pendulation of the davit in the paper. Firstly, structure and operational principle anti-pendulation system of the davit are analyzed. Dynamics mechanism of pendulation of davit system and basic principles of hydraulic damper device are studied. It provides a theoretical basis and technical basis for davit system dynamic modeling and design of passive style anti-pendulation system. Because motion of the ship is major cause of davit’s pendulation, the ship motion response under the action of wave is analyzed. On this basis, the relation between the davit system and the ship swinging movement are abstained under the excitation of the ship rolling, pitching. Secondly,by using the Lagrange equation and its relational methods, the davit system’s two degrees of freedom pendulum mathematical model is achieved. The simulation verifies the correctness of the mathematical model. The pendulum model which is analyzed, then it is reasonable to be simplified, a single degree of freedom dynamic model of the anti-pendulation device is achieved. The major factors affecting boat pendulation are analyzed, and then parameters of the anti-pendulation hydraulic damper device are designed. At the end, the virtual prototype model of davit system is achieved by the AMESim simulation software, and proves the effectiveness of passive style anti-pendulation system under different sea conditions. By changing the parameters of the ship and boat, the adaptable of anti-pendulation system is verified, and improving the method of adaptable of anti-pendulation system is given.Simulation studies of the paper show that the mathematical modeling and the anti-pendulation device which is designed is available in theory. The relational study contents of the paper are going to be used in relational engineering application.更多还原