摘 要

升降控制系統(tǒng)是自升式海上風(fēng)電安裝船升降裝置中的關(guān)鍵部分，其控制性能是樁腿和船體平臺順利實(shí)現(xiàn)升降的保證。本文針對近海海上風(fēng)電安裝船升降控制系統(tǒng)進(jìn)行設(shè)計(jì)和研究。論文的主要研究內(nèi)容如下：
1．綜合分析了安裝船的升降裝置和升降原理，設(shè)計(jì)了風(fēng)電安裝船升降系統(tǒng)的總體方案。在此基礎(chǔ)之上，根據(jù)系統(tǒng)需求，構(gòu)建了基于PROFIBUS現(xiàn)場總線技術(shù)的海上風(fēng)電安裝船的升降控制系統(tǒng)，完成了系統(tǒng)的硬件設(shè)計(jì)、主站和從站的通信以及邏輯控制功能，實(shí)現(xiàn)了海上風(fēng)電船的整個升降過程控制。
2．為保證海上風(fēng)電船升降過程中水平度滿足要求，分析了國內(nèi)外同類型平臺自動平衡的方法，提出了以比例換向閥為執(zhí)行機(jī)構(gòu)的調(diào)平方案。研究重載平臺的平衡原理，給出了本風(fēng)電船的位置誤差控制法和角度誤差控制法相結(jié)合的自動平衡方法。研究了PID控制策略，運(yùn)用MATLAB軟件對系統(tǒng)進(jìn)行仿真，可知該策略明顯改善控制品質(zhì)。
3．通過組態(tài)軟件WinCC和STEP7軟件的集成，開發(fā)了監(jiān)控系統(tǒng)。設(shè)計(jì)了升降控制系統(tǒng)的人機(jī)界面，設(shè)置操作管理權(quán)限和記錄運(yùn)行狀態(tài)，實(shí)現(xiàn)了過程變量的可視化監(jiān)控，并通過開發(fā)的ActiveX控件將升降裝置的工作過程進(jìn)行動態(tài)顯示。
4．開發(fā)了海上風(fēng)電安裝船的原型系統(tǒng)，并對其進(jìn)行調(diào)試和試驗(yàn)。對PROFIBUS-DP網(wǎng)絡(luò)的硬件配置，監(jiān)控系統(tǒng)以及邏輯控制系統(tǒng)進(jìn)行測試，實(shí)現(xiàn)了船體及樁腿的升降控制、船體平衡狀態(tài)的調(diào)節(jié)、系統(tǒng)的過程顯示和故障報(bào)警等功能，驗(yàn)證了系統(tǒng)的正確性。

關(guān)鍵詞 風(fēng)電安裝船；升降控制；自動平衡；PID；WinCC










Abstract
Jacking control system is a key part of self-elevating offshore wind turbine installation vessel, whose performance guarantees legs and vessel platform to realize lifting and dropping smoothly. The major research contents of this paper are as follows.
1. Jacking device and principle of the installation vessel are comprehensively analyzed. The overall scheme of the jacking system of the wind turbine installation vessel is designed. According to this basis and demands, jacking control system which is based on the PROFIBUS fieldbus technology of offshore wind power installation vessel is constructed. And design of the hardware, communication betweens master and slave station, logical functions and etc. is completed. The jacking control system realizes the whole jacking control of the wind turbine installation vessel.
2. In order to ensure the levelness of the vessel platform meets the requirement in the process of lifting, automatic balance methods of the same type platform at home and abroad are analyzed. A leveling scheme by the proportion reversing valve as the actuator is proposed. The leveling principle of heavy platform is studied and an automatic balance is method given. After control strategy of PID is studied, MATLAB software is used to simulate the system. From the simulation, we know that PID control algorithm can obviously improve the quality of the control.
3. Through the integration of the configuration software WinCC and STEP7 software, the monitoring system is developed. Man-machine interface of the jacking control system is designed. Operating management and authority is set and running state is recorded. Visualization monitoring of the process variables is realized. Through the development of the ActiveX control, monitoring system can dynamically display the working process of the device.
4. Prototype system of wind turbine installation vessel is developed and test. Hardware configuration of PROFIBUS-DP network, monitoring system and logical control system is test. The functions such as the control of lifting and dropping vessel and legs, regulation of the vessel balance, display of the system process and fault alarm can verify the correctness of the system.

Keywords wind turbine installation vessel; lifting control, automatic balance; PID; WinCC
目 錄
摘 要 I
Abstract II
第1章 緒論 1
1.1 課題的研究背景與意義 1
1.1.1 研究背景 1
1.1.2 研究意義 2
1.2國內(nèi)外研究現(xiàn)狀、發(fā)展趨勢 3
1.2.1 現(xiàn)場總線控制系統(tǒng) 3
1.2.2 海上風(fēng)電船控制系統(tǒng) 4
1.4 本課題的主要研究內(nèi)容 4
1.5本章小結(jié) 5
第2章 PROFIBUS現(xiàn)場總線升降控制系統(tǒng)設(shè)計(jì) 6
2.1風(fēng)電安裝船的升降系統(tǒng) 6
2.1.1 風(fēng)電安裝船的升降系統(tǒng)分析 6
2.1.2 風(fēng)電安裝船的升降裝置 7
2.1.3 升降裝置液壓系統(tǒng) 9
2.2 升降控制系統(tǒng)方案設(shè)計(jì) 11
2.2.1 PROFIBUS現(xiàn)場總線概述 11
2.2.2 控制系統(tǒng)的結(jié)構(gòu)分析 12
2.2.3 控制系統(tǒng)的硬件設(shè)計(jì) 13
2.3 控制系統(tǒng)的硬件組態(tài) 16
2.3.1 PROFIBUS網(wǎng)絡(luò)的硬件組態(tài) 16
2.3.2 主從站通信 17
2.4 PLC軟件設(shè)計(jì)及邏輯控制功能 20
2.4.1 STEP7簡介 20
2.4.2 PLC的程序設(shè)計(jì) 21
2.5 本章小結(jié) 23
第3章 船體自動平衡控制策略與實(shí)現(xiàn) 24
3.1 自動平衡控制策略 24
3.1.1 系統(tǒng)的數(shù)學(xué)模型 24
3.1.2 系統(tǒng)的PID控制分析 29
3.2 平衡控制方法 31
3.2.1 位置誤差控制法 32
3.2.2 角度誤差控制法 33
3.2.3 平衡控制方法的確定 33
3.3 平衡控制的實(shí)現(xiàn) 33
3.3.1 確定樁腿的高低情況和處理方法 34
3.3.2 程序算法及流程圖 35
3.4 本章小結(jié) 37
第4章 監(jiān)控系統(tǒng)的設(shè)計(jì) 38
4.1 WinCC簡介 38
4.2 WinCC通訊的實(shí)現(xiàn) 38
4.2.1 WinCC通信原理 38
4.2.2 WinCC與STEP 7的PROFIBUS通信 40
4.3 監(jiān)控界面的設(shè)計(jì) 42
4.3.1 編輯監(jiān)控界面 42
4.3.2 開發(fā)ActiveX控件 45
4.4 用戶管理 46
4.5 本章小結(jié) 47
第5章 海上風(fēng)電船系統(tǒng)的試驗(yàn)..