基于Modelica的主动波浪补偿起重机建模与仿真

为研究主动波浪补偿起重机的动态特性和起吊重物质量等关键参数对主动波浪补偿起重机性能的影响,采用多领域统一建模语言Modelica,在MWorks仿真软件中构建二次马达、恒压变量泵、蓄能器、溢流阀和钢丝绳等模型,以构造出完整的主动波浪补偿起重机模型.对该模型进行仿真分析,结果表明:当起吊重物的质量为20t～160t时,主动波浪补偿起重机的控制效果较好;当起吊重物的质量达到200 t时,重物的补偿位移控制效果相对较差;通过调整PID控制参数可提高起重机起吊重物的质量.

Modeling and Simulation Analysis of Active Wave Compensation Crane Based on Modelica

In order to study the dynamic characteristics of the active wave compensation crane and the influence of the key parameters of Lifting weight and wave movement displacement in vertical direction, the multi-domain unified modeling language Modelica was used to construct secondary motor, constant pressure variable pump, accumulator, relief valve, wire rope and other models in the MWorks simulation software, a complete active wave compensation crane model is constructed. The model is used to simulate the system, and the influence of key parameters such as lifting weight and wave movement displacement in vertical direction on the performance of active wave compensation crane is analyzed. It is found that the control effect of the active wave compensation crane is better when the weight is from 20 tons to 160 tons. When the weight reaches 200 tons, the compensation displacement control effect of heavy objects is relatively poor. By adjusting PID control parameters, the quality of lifting heavy objects can be improved. This conclusion provides a basis for the optimal design of active wave compensation crane.