Development of a Dynamic Model for a Constant Tension Winch

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Development of a Dynamic Model for a Constant Tension Winch
	Chen Q(陈琦); Li W(李伟); Wang XH(王晓辉); Yu JC(俞建成); Jafarzadeh, Saeed; Li Y(李岩); Li S(李硕); Zhang W(张巍); Chen, Genshe
	2015
会议名称	OCEANS 2015 MTS/IEEE
会议日期	October 19-22, 2015
会议地点	Washington, DC
关键词	constant tension winch valve-controlled hydraulic motor active controller
页码	1-4
中文摘要	Developing an effective controller for a towing winch is very important to maintain constant towing rope tension between a submarine cable burying machine and a cable ship. A valve-controlled hydro-motor system for the towing winch is a highly nonlinear and time varying system due to the flow– pressure dynamics, oil leakage, oil temperature variation, etc. In this paper, we develop the dynamic model of the valve-controlled hydraulic winch by linearizing its nonlinear dynamics at an operating point. Both the simulation and experimental results demonstrate that the developed model describes the dynamic relationship between input control signals from the electronic proportional valve and pull forces generated by hydro-motor well. We used the model to evaluate and analyze the PID and FUZZY P+ID controllers for the constant tension winch that operates under sea waves with significant variations (peak-to-peak) from 1.5 to 2.5 meters.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	OCEANS 2015 MTS/IEEE
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
WOS记录号	WOS:000380550000305
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17506]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Chen Q,Li W,Wang XH,et al. Development of a Dynamic Model for a Constant Tension Winch[C]. 见:OCEANS 2015 MTS/IEEE. Washington, DC. October 19-22, 2015.