大吨位沉船打捞变节流被动升沉补偿电液集群同步提升系统及控制方法研究

Electro-hydraulic synchronous lifting system and heave compensation equipment are key technologies to ensure the salvage of large-tonnage shipwreck safely and efficiently in bad sea condition, and they are also frontier applications of fluid power and control systems. While lifted in the waves, the shipwreck pitches with the barge, the load of lifting steel cables vary with the wave and not distributed equally, and the displacement control precision of the synchronous cylinders is bad as the salvaging barge pitches all the time. The goal of the project is to solve those problems with the combination of heave compensation and electro-hydraulic synchronous lifting technologies. The load characteristic and control performance of the lifting system will be studied with interdisciplinary theoretical analysis and mathematical simulation. The motion of the shipwreck influenced by the wave will be analyzed and passive heave compensator will be designed based on the load of the lifting system. The proper accumulator volume and throttling valve of the heave compensator will be set according to the simulation. Evaluating indicators of the heave compensation and the electro-hydraulic synchronous lifting systems will be built to study the attitude control and load balancing performance of the salvaging equipment. After realizing that the varying load of the lifting cable and velocity of the shipwreck be controlled within a range, the synchronous movement of the cylinders will be controlled accurately, the shipwreck can be salvaged safely in some complex circumstance. Aiming at the synchronization control of electro-hydraulic lifting system and heave compensation technology research for salvaging large-tonnage shipwreck, this project has important effects on introducing the hydraulic lifting and heave compensation systems to offshore platform and ocean engineering as well as the shipwreck salvaging equipment and technology will be improved.

升沉补偿和电液同步提升技术是复杂海况下大吨位沉船安全高效打捞的关键技术，也是流体传动控制技术的研究热点和前沿。本项目针对大吨位沉船打捞作业中工作驳船随波浪升沉和俯仰运动导致的沉船提升过程位姿难以准确控制、提升钢缆负载力不均衡等问题，综合沉船与驳船的动力学模型，建立沉船打捞提升系统负载模型；分析波浪对沉船运动特性的影响规律，设计被动型升沉补偿装置，结合系统负载模型，建立机液耦合系统动态仿真模型，开展蓄能器有效容积及节流阀参数配置优化设计；以沉船提升过程姿态平稳、受力均衡为目标，建立升沉补偿与电液同步提升系统性能评价指标；在数值分析和实验验证的基础上，提出基于变节流控制的被动型升沉补偿电液集群同步提升系统设计和控制方法。预期成果不仅能够提高我国大吨位沉船应急抢险打捞技术能力、确保我国港口及航道的畅通，而且可为液压升沉补偿及电液同步提升技术在海洋平台、海上大吨位作业中的应用提供理论基础。

升沉补偿和电液同步提升技术是复杂海况下大吨位沉船安全高效打捞的关键技术，也是流体传动控制技术的研究热点和前沿。本项目针对大吨位沉船打捞作业中工作驳船随波浪升沉和俯仰运动导致的沉船提升过程位姿难以准确控制、提升钢缆负载力不均衡等问题，研究了大吨位沉船打捞变节流被动升沉补偿电液集群同步提升系统及控制方法，通过分析传统提升装置在海浪、海风等因素系下所受到的不安全影响，设计了带有被动式升沉补偿装置的提升系统，并将提升装置与补偿装置进行机械整合；建立了带升沉补偿装置的沉船动力学模型，分析了蓄能器的容积大小对补偿效果的影响，从而提出了升沉补偿装置参数的设计及优化方法；借助水动力分析软件，联合升沉补偿装置的数学模型，结合具体的沉船打捞案例对其性能进行了仿真计算，分析沉船在提升过程中加速度的变化情况，为实际打捞提供参考；针对液压同步提升的打捞技术，分析该技术在目前打捞领域的缺陷，提出加入升沉补偿装置以确保打捞过程的平稳性与安全性，并采用相似原理搭建了沉船同步提升液压升沉补偿试验平台，建立了既能实现主动补偿又能实现被动补偿的控制系统，针对不同的补偿参数进行试验研究，为实际的升沉补偿系统的研制提供数据参考。项目研究证明了变节流被动式升沉补偿方法在大吨位沉船液压同步提升系统中的有效性，被动式升沉补偿装置将有效削减波浪环境下的沉船兜底千斤受力波动，提高了沉船提升过程的平稳性。