【作者】 齐广东；

【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， 2011， 硕士

【摘要】 随着科学技术的不断发展,人类对资源的需求越来越多,这使得人们不断加强对海洋的探索和开发,所以国际船舶市场在进入20世纪以来也随之得到了更迅猛的发展,这对我国的船舶工业来说既是机遇也是挑战。因此,对船舶配套设备产业还需要投入更多的研究。救助艇收放装置是用于降放和收回救助艇的海上作业设备,它的任务是保证舰船上的救助艇和人员快速、安全地降放至水面,并将救助艇安全地收回到舰船上。对救助艇收放控制直接关系到救助人员的人身安全问题,特别是在高海况时,安全收放显得尤为重要。对收放装置控制系统的研究在民用和军事领域均具有重要的意义和实用价值。高海况救助艇收放控制的关键技术主要包括减摆与波浪补偿控制以及救助艇收放过程的逻辑保护。论文首先研究船舶运动理论,分析船舶横摇与纵摇运动对收放装置的影响,确定船舶摇荡是收放装置系统摆振的原因。研究收放装置减摆系统的结构及工作原理,建立救助艇摆振模型,并对其进行简化,根据影响救助艇摆振的主要因素对减摆阻尼装置的相关参数进行分析设计。并以某一具体收放装置为例,建立其虚拟样机仿真模型,在3级海况与6级海况下进行仿真,验证了被动式减摆系统的有效性。根据船舶运动原理分析了波浪补偿的必要性,利用双排量马达设计了具有主动式波浪补偿功能的起艇绞车,建立了波浪补偿起艇绞车的高扭矩工作模式和低扭矩工作模式的数学模型并进行了仿真分析,仿真结果表明所设计的波浪补偿绞车结构紧凑,响应迅速,波浪补偿精度高,性能可靠,为主动式波浪补偿系统的工程化应用奠定了理论基础。最后通过对救助艇收放控制关键技术的研究和对救助艇收放逻辑动作过程的分析,确定了控制系统应具备的功能,设计了控制系统方案,采用西门子S7-300PLC控制器作为核心控制器完成收放装置控制系统的设计。论文的研究结果,证明了救助艇收放装置减摆系统和主动式波浪补偿控制系统可以有效的提高救助艇收放装置适应高海况的能力,增加救助艇收放装置在高海况下使用的安全性。更多还原

【Abstract】 Following the development of the technology and science, human demand much more resource than before, which makes people continuously strengthen on Marine exploration and development, so international shipping market into the 20th century has been a more rapid development. It is not only an opportunity but also a great challenge to our country’s shipbuilding industry. As a result, more research will be inputted to corollary equipment of ship.Launch and recovery device of rescure boat is applicated to put down and receive the ocean operating equipment, the task of it is that it must ensure the rescue boat and personnel putting down to the surface quickly and safely, and ensure them receiving back to the rescue boat. Launch and recovery control of the rescue boat is directly related to the safe of workers who are on the boat, especially at abominable sea condition, the security of people is particularly important. The research and design of launch and recovery device on the control system is to the point with both civil and military fields. It is significant and applicative. The key technology of the launch and recovery device of rescure boat at abominable sea condition mainly includes inti-pendulation and wave compensation,and also the logical protect of rescure boat launch and recovery process.The first case of this article is to analyze the impact of launch an recovery device which is caused by the motion of ship at abominable sea conditions, and ensure the application of launch and recovery device at abominable sea conditions must be placed by them. The purpose of it is in order to reduce the swing of rescue boats which is on the impact of launch and recovery device. Then we research on the system which is the reduction of rolling, according to the principle of reducing pendulum system which is designed by passive system and launch and recovery device, we use a specific way to establish the virtual prototype simulation model of the machine, we discover that the rescue boats were much lower than Shimmy reduction at the end of simulation analysis to determine launch and recovery device joined by Pendulum rescue boats, the system play an important role in the effect of reduction rolling. Secondly, we study the launch and recovery device in the wave compensational system, the aim of the wave compensation is alleviating the impact of waves on the rescue boat. According to the principle of ship motions, the necessity of waves compensation is analyzed. Then waves compensation winch with active wave compensation function is designed using double displacement motor. The mathematical model is established when waves compensation winch works in high torque operation modes and low torque operation modes. The simulation results showed that the winch designed with waves compensation control has compact structure, quick response, waves compensation, reliable performance, and high precision, which make a theoretical foundation for active wave compensation system use in engineering application. Finally, we complete the design of the electrical control system with PLC controller by the way that we research it in, at the start of the process the results have been come out by researching the key technology of the rescue boat and analyzing the logical motion of the process.The research results indicate that launch and recover device with anti-pendulation and active wave compensation control system can effectively improve its ability in the high sea conditions. And it also make sure the security of device of Rescue boat’launch and recover when use at abominable sea conditions.更多还原