电驱动海洋绞车主动升沉补偿运动预测、轨迹规划与控制研究

由于受风浪、海流及潮涌的影响，海洋绞车在进行吊装重物收放、水下打捞、水下安装等海上精准作业时，母船升沉运动引起缆绳和水下作业装备上下起伏，严重影响水下安装定位精度和作业效率，对水下作业装备造成严重的安全隐患。项目针对船舶升沉运动对水下作业扰动问题，建立海洋绞车母船、缆绳及水下作业装备的耦合动力学模型，得到海洋绞车在波浪起伏作用下收放缆索的补偿量及缆绳张力变化规律。利用惯性测量单元获得的船舶姿态信号，建立多变量状态误差模型和预测模型，对船舶运动姿态和海洋绞车垂直运动进行估计和预测。研究基于模型预测控制的扰动轨迹规划与最优控制方法，提出“前馈控制+反馈控制+预测控制”的复合控制策略。建立电驱动海洋绞车主动升沉补偿控制系统动力学模型，通过仿真分析和试验研究，揭示主动升沉补偿动态响应特性和运动规律，优化控制器参数和模型参数，提高电驱动海洋绞车主动升沉补偿精度，确保水下作业装备安全可靠地工作。

Due to the impact of wind, wave, current and tide, when the marine winch performs precise marine operations such as lifting heavy objects, underwater salvage, and underwater installation, the ship heaving motion causes the cables and underwater operating equipment to rise and fall, which seriously affects the underwater installation positioning accuracy and operating efficiency, and poses serious safety risks to underwater operating equipment. Aiming at the problem of the disturbance of the ship's heave motion on the underwater operation, the coupling dynamic model of marine winch mother ship, cable and underwater working equipment is established by considering the influence of wave fluctuation on ship, cable and underwater equipment. Through the model simulation, the compensation amount of the cable and the variation law of the cable tension of the marine winch under the action of wave fluctuation are obtained. Based on the ship attitude signal obtained by inertial measurement unit, the multivariable state error model and prediction model are established to estimate and predict the ship motion attitude and the vertical motion of the marine winch. Considering the influence of ship heave motion on underwater load positioning disturbance, the disturbance trajectory planning and optimal control method based on model predictive control are studied, and a compound control strategy of "feedforward control + feedback control + predictive control" is proposed. The control system dynamics model of electric driven marine winch is established. Through simulation analysis and experimental research, the dynamic response characteristics and motion law of active heave compensation are revealed, and the controller parameters and model parameters are optimized. The accuracy of active heave compensation of electrically driven marine winch is improved to ensure the safe and reliable operation of underwater equipment.