机电工程技术2025，Vol.54Issue(7)：12-17,6.DOI:10.3969/j.issn.1009-9492.2025.07.003
四绳牵引式防摇定位结构及控制算法设计
Design of Anti-swing Positioning Mechanism and Control Algorithm for Four-rope Traction
黄程龙 1朱玉田 1周爱国 1王海峰2
作者信息
- 1. 同济大学机械与能源工程学院,上海 201804
- 2. 上海振华重工(集团)股份有限公司,上海 200125
- 折叠
摘要
Abstract
In order to improve the lifting efficiency of offshore wind turbine,a novel four-cable suspension anti-sway positioning structure and a control method based on this structure are proposed.Four cables are connected between the lifting components and the installation platform.By combining different tension forces on the four cables,it is possible to achieve full-direction force and torque action on the lifting components in the xoy plane.The system dynamics are analyzed,and the transformation matrix from the cable tension to the force acting on the lifting components is obtained,as well as the system's dynamic equations.Based on the system's dynamic equations and the characteristics of the ropes,a control algorithm is designed.Finally,a simulation model is built in Simulink for simulation,and the results show that,compared with the effect of no anti-roll structure,the maximum swing amplitude of lifting components under the action of wind power is reduced by about 89.1%,and the maximum swing amplitude is millimeter,which meets the installation requirements of offshore wind turbines.Compared with passive control,the control algorithm can realize the automatic centering of lifting components.关键词
防摇定位/风电吊装/四绳牵引/动力学建模/控制Key words
anti-sway and positioning/wind power hoisting/four-rope traction/dynamic modeling/control分类
机械工程引用本文复制引用
黄程龙,朱玉田,周爱国,王海峰..四绳牵引式防摇定位结构及控制算法设计[J].机电工程技术,2025,54(7):12-17,6.
