CN114608798A - Land test method for active wave compensation performance of marine retraction system - Google Patents
Land test method for active wave compensation performance of marine retraction system Download PDFInfo
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Abstract
The invention discloses a land test method for the active heave compensation performance of a marine retraction system, which comprises the following steps: constructing a land test system for active wave compensation rolling and pitching of a retraction system; carrying out land tests of active wave compensation rolling and pitching of the retraction system; constructing a land test system for active heave compensation of the retraction system in the heave direction; and carrying out land test of active heave compensation in the heave direction of the retraction system. According to the method, through on-land testing, processing and analysis of the data of the measurement sensor of the analog testing system and the data of the measurement sensor of the marine retraction system in a wave compensation state, whether the maximum compensation speed, the maximum compensation acceleration, the compensation reaction time, the compensation effect and other performances of the marine retraction system in the rolling and pitching compensation and heave compensation meet performance indexes of working under 6-level sea conditions or not can be judged visually.
Description
Technical Field
The invention relates to the technical field of land tests of marine engineering equipment, in particular to a land test method for the active wave compensation performance of a marine retraction system.
Background
The unmanned submersible is an important tool for human to develop oceans, the retraction system is used as an important matched device of the unmanned submersible, the efficiency of ocean operation is decisive, the retraction system with the active wave compensation function can realize retraction operation of unmanned submersible of different types by overlapping different butt joint devices, and meanwhile, under the condition of high sea, the higher the precision of wave compensation is, the shorter the compensation reaction time is, and the more stable and safer the retraction process is.
Because the marine retraction system needs to perform retraction operation under a high sea condition, if the wave compensation effect cannot meet the requirement, certain danger exists, so that a land test scheme needs to be made, the active wave compensation function of the marine retraction system is tested for a long time on land by simulating the actual operation working condition of a mother ship of the marine retraction system under the high sea condition on land, and the marine retraction system can be applied to offshore operation on the premise of ensuring whether the wave compensation performance effect can meet the actual working performance index.
At present, no land test method for verifying the performance index of the wave compensation function of the marine retraction system exists.
Disclosure of Invention
The invention aims to: in order to overcome the defects of the background art, the invention discloses a land test method for the active wave compensation performance of a marine retraction system, which utilizes a three-degree-of-freedom wave simulation swing platform system and a heave wave simulation rack system to simulate wave motion under a high sea condition, after the marine retraction system starts the active wave compensation function, a corresponding execution mechanism responds, and whether the active wave compensation function of the marine retraction system meets the performance standard under the high sea condition or not is judged through the numerical acquisition, processing and comparison of a series of measuring sensors, so that land verification basis is provided for judging whether the marine retraction system can be applied under the high sea condition or not.
The technical scheme is as follows: the invention discloses a land test method for the active heave compensation performance of a marine retraction system, which comprises the following steps:
s1, constructing active wave compensation rolling and pitching land test system of retraction system
The system comprises a retraction system to be tested, wherein a head mechanism of the retraction system is provided with a wave compensation actuating mechanism, and the system comprises: the system comprises a main winch, a left-right swing oil cylinder connected with a main winch frame and a rotary oil cylinder connected with the main winch frame; the retraction system is connected with the three-degree-of-freedom sea wave simulation swing platform system, the swing platform system attitude measuring unit, a head mechanism attitude measuring sensor for measuring the transverse and longitudinal swing attitudes of the head mechanism and a main winch measuring encoder;
s2, carrying out active wave compensation rolling and pitching land test of the retraction system
Simulating the work of a swing platform system by controlling three-degree-of-freedom sea waves, and reading the rolling and pitching information measured by a swing platform system attitude measuring unit by using a controller of a retraction system;
the controller processes the roll and pitch information as corresponding input values, obtains the calculation result of the roll and pitch compensation algorithm, controls the electro-hydraulic proportional servo valves of the left and right swing oil cylinders and the rotary oil cylinder to work, and forms a control closed loop by taking the roll and pitch angle values of the head mechanism attitude measurement sensor as feedback;
the upper computer displays a curve of the transverse and longitudinal rocking angle value measured by the rocking platform system attitude measuring unit and the actual transverse and longitudinal rocking angle value of the head mechanism of the retraction system and an angle value difference curve to verify the active wave compensation precision and the compensation response time of the left and right rocking oil cylinders and the rotary oil cylinder;
s3 construction of active heave direction heave compensation land test system of retraction system
A heave sea wave simulation rack system is arranged on the basis of S1, a rope is wound on a winding drum of a main winch and is connected with a retractable target, and the retractable target is driven by the main winch to lift and lower and execute heave compensation; the heave sea wave simulation rack system comprises a rack main body, a rack winch, a fixed pulley, a rack winch measuring encoder, a rack hydraulic system and a rack winch manual operation device, wherein the rack main body is arranged at a horizontal position, the rack winch comprises a winch support, a rack winch drum and a winch hydraulic motor, the fixed pulley is arranged at the top of the rack main body, a steel wire rope is erected on the fixed pulley, and two ends of the steel wire rope are respectively connected with the rack winch and a weight; the rack hydraulic system can drive the rack winch drum to rotate forwards or backwards under the control of the rack manual operation device so as to control the ascending or descending movement of the weights, and the speed of the winch can be adjusted by adjusting the system pressure and the push-pull degree of the manual operation device, so that the ascending and descending speed of the suspended weights is controlled;
s4, carrying out active wave compensation land test in heave direction of retraction system
The operating platform frame winch pulls the steel wire rope to drive the weight to do ascending and descending reciprocating variable speed motion;
the bench winch measuring encoder continuously generates pulse numerical value signals along with the rotation of a bench winch drum, periodically acquires, records and sends the pulse numerical values to the controller, the acquired pulse numerical values are processed to obtain speed values which serve as target values, control signals are transmitted to the electro-hydraulic proportional servo valve to drive the main winch to drive the retractable target to do heave movement, and data information calculated by the main winch measuring encoder through the same data processing method is used as feedback to form a control closed loop;
the heave speed, the heave acceleration and the heave speed curve of the weight of the retraction target are displayed through the upper computer, the maximum heave speed which can be reached by the weight is measured through sampling and comparing the collected data curves, and the maximum compensation speed, the maximum compensation acceleration, the compensation reaction time and the compensation effect of the active heave compensation of the retraction system in the heave direction are verified through repeated tests.
Furthermore, the main winch comprises a main winch hydraulic motor, a main winch frame and a main winch drum, and the hydraulic motor is controlled by applying a signal to the electro-hydraulic proportional servo valve through a controller to drive the electro-hydraulic proportional servo valve;
the left and right swing oil cylinders apply current signals to the electro-hydraulic proportional servo valve through the controller to be controlled, and the functions of adjusting the head mechanism posture of the retraction system and compensating the rolling of the retraction system are realized;
the rotary oil cylinder applies current signals to the electro-hydraulic proportional servo valve through the controller to be controlled, and the functions of adjusting the head mechanism posture of the retraction system and the pitching compensation of the retraction system are achieved.
Furthermore, the three-degree-of-freedom sea wave simulation swing platform system comprises a swing platform base, a swing platform upper platform, three swing platform oil cylinders which are positioned between the swing platform base and the swing platform upper platform and are arranged in a triangular mode, a hydraulic system of the three swing platform oil cylinders and a control system of the three swing platform oil cylinders; the bottom of the retraction system is arranged on an upper platform of the swing platform, the attitude measuring unit of the swing platform system is positioned at the geometric center of the upper platform of the swing platform, and the measured roll angle value and pitch angle value are transmitted to the controller and are respectively used as target values of the motion attitude of the left swing oil cylinder, the right swing oil cylinder and the rotary oil cylinder.
Furthermore, the lower part of a main winch frame of the main winch is connected with a hoisting joint through a left-right swing oil cylinder, the upper part of the main winch frame of the main winch is connected with a gantry main body of a retraction system through a rotary oil cylinder, and the attitude measuring sensor of the head mechanism is a double-shaft inclination angle sensor and is arranged on the upper plane of the hoisting joint.
Further, the main winch measuring encoder and the rack winch measuring encoder are absolute value incremental encoders which are respectively coaxial with the main winch drum and the rack winch drum and used for measuring the rotating speed and the rotating acceleration, and the heave speed and the heave acceleration of the retractable target can be obtained through unit conversion.
Furthermore, the retractable targets and the weights are multiple weights with a mass range of 0.5-5T, system pressure repeated tests of the heaving sea wave simulation rack system are changed by replacing the retractable targets and the weights with different masses, and the maximum compensation speed, the maximum compensation acceleration, the compensation reaction time and the compensation effect of the retractable system on active wave compensation of the retractable targets in the heaving direction under the maximum 6-level sea condition with the mass range of 0.5-5T are verified.
Has the advantages that: compared with the prior art, the invention has the advantages that: the working condition of the marine retractable system under the highest 6-level sea condition can be dynamically simulated by utilizing the simulated sea wave test system, the processing analysis of the data of the measuring sensor of the simulated test system and the data of the measuring sensor of the marine retractable system under the wave compensation state is carried out through the test on land, whether the maximum compensation speed, the maximum compensation acceleration, the compensation reaction time, the compensation effect and other performances of the rolling compensation, the pitching compensation and the heave compensation of the marine retractable system meet the performance indexes of the work under the 6-level sea condition or not can be visually judged, a powerful basis is provided for judging whether the marine retractable system has the marine test capability or not, and the reliability and the safety of the marine retractable system in the marine retractable operation are ensured.
Drawings
FIG. 1 is an overall view of an active heave compensation roll and pitch land test system of the retraction system of the present invention;
FIG. 2 is a view of the head mechanism of the retraction system of the present invention;
FIG. 3 is a land test control flow chart of active heave compensation roll and pitch of the retraction system of the invention;
FIG. 4 is an overall view of the active heave direction heave compensation land test system of the retraction system of the present invention;
FIG. 5 is a block diagram of the gantry winch of the present invention;
FIG. 6 is a land test control flow chart of the active heave compensation in heave direction of the retraction system of the present invention.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
A land test method for the active heave compensation performance of a marine retraction system comprises the following steps:
s1, constructing active wave compensation rolling and pitching land test system of retraction system
As shown in fig. 1 and 2, the system comprises a retraction system 1 to be tested, wherein a head mechanism 101 of the retraction system 1 is provided with a heave compensation actuator, and the system comprises: a main winch 1011, a left and right swing oil cylinder 1012 connected with the main winch frame, and a rotary oil cylinder 1013 connected with the main winch frame; the retraction system 1 is connected with a three-degree-of-freedom sea wave simulation swing platform system 2, a swing platform system attitude measuring unit 201, a head mechanism attitude measuring sensor 1014 for measuring the transverse and longitudinal swing attitudes of a head mechanism, a main winch measuring encoder 1015, an upper computer for displaying a test data curve, and an upper computer for realizing information interaction with a controller in a Canopen communication mode, and can display the data curve of a current test in real time and realize the storage processing of the data curve.
The main winch 1011 comprises a main winch hydraulic motor, a main winch frame and a main winch drum, and a controller applies signals to the electro-hydraulic proportional servo valve to drive the hydraulic motor; the left and right swing oil cylinders 1012 apply current signals to the electro-hydraulic proportional servo valve through a controller to be controlled, so that the functions of adjusting the head mechanism posture of the retraction system and compensating the rolling of the retraction system are realized; the rotary oil cylinder 1013 applies a current signal to the electro-hydraulic proportional servo valve through a controller to control the electro-hydraulic proportional servo valve, so as to realize the functions of adjusting the head mechanism posture of the retraction system and pitch compensation of the retraction system.
The three-degree-of-freedom sea wave simulation swing platform system 2 comprises a swing platform base 202, a swing platform upper platform 203, three swing platform oil cylinders 204 which are positioned between the swing platform base 202 and the swing platform upper platform 203 and are arranged in a triangular mode, a hydraulic system and a control system of the three-degree-of-freedom sea wave simulation swing platform; the bottom of the retractable system 1 is arranged on an upper platform 203 of the swing platform, the installation of the retractable system on the sea and a mother ship deck is simulated, the motion space of a wave compensation actuating mechanism of the retractable system for the ship can be improved, the land test verification is facilitated, a base 202 of the swing platform is arranged on a horizontal test field, a hydraulic system of the swing platform can drive a cylinder 204 of the swing platform to do reciprocating linear motion according to specified amplitude and frequency under the control of a control system of the swing platform, and the upper platform 203 of the swing platform can simulate the posture change of the mother ship deck under the sea condition of 0-6 level. The swing platform system attitude measurement unit 201 is an MRU (inertial measurement unit, which is divided into an attitude sensor and a junction box) and is located at the geometric center of the upper platform 203 of the swing platform. And the device is used for measuring the roll angle value and the pitch angle value of the upper platform 203 of the swing platform, and transmitting the measured roll angle value and pitch angle value to a main controller of the retraction system to be respectively used as target values of the motion postures of the left and right swing oil cylinders 1012 and the rotary oil cylinder 1013 of the head mechanism of the retraction system.
S2, carrying out active wave compensation rolling and pitching land test of the retraction system
The three-degree-of-freedom sea wave is controlled to simulate the work of the swing platform system, and the controller of the folding and unfolding system is used for reading the rolling and pitching information measured by the attitude measuring unit of the swing platform system. The controller processes the roll and pitch information as corresponding input values, obtains the calculation result of the roll and pitch compensation algorithm, controls the electro-hydraulic proportional servo valves of the left and right swing oil cylinders 1012 and the rotary oil cylinder 1013 to work, and forms a control closed loop by taking the roll and pitch angle values of the head mechanism attitude measurement sensor 1014 as feedback; the active wave compensation precision and the compensation reaction time of the left-right swing oil cylinder 1012 and the rotary oil cylinder 1013 are verified by a curve of the transverse-longitudinal swing angle value measured by the swing platform system attitude measuring unit 201 and the actual transverse-longitudinal swing angle value of the head mechanism of the retractable system and an angle value difference curve displayed by an upper computer.
As shown in fig. 3, specifically: the ship collecting and releasing system 1 is carried out with the test of the rolling and pitching compensation performance of the active wave compensation, after the rolling and pitching wave compensation function of the collecting and releasing system is started, the control personnel of the swing platform system inputs the instructions of the rolling and pitching of the swing platform at the control platform of the swing platform according to the working condition parameters under the maximum 6-grade sea condition, the three oil cylinders of the swing platform act cooperatively according to the instructions, the upper platform of the swing platform continuously changes the posture, the rolling and pitching information measured by the measuring unit 16 of the posture of the upper platform of the swing platform is transmitted to the main controller of the collecting and releasing system, the main controller processes the read numerical value as the corresponding input value, the corresponding electro-hydraulic proportional servo valve is controlled according to the calculated result of the calculated rolling and pitching compensation algorithm, the left and right swing oil cylinders 1012 and the head mechanism and the rotary oil cylinder 1013 of the head mechanism are driven to act, and the values of the rolling and pitching angle of the inclination angle sensor at the head of the portal are used as feedback, and a control closed loop is formed, so that the transverse and longitudinal active wave compensation function of the retraction system is realized, and the upper computer displays a curve of the transverse and longitudinal rocking angle value measured by the rocking platform system attitude measuring unit 201, an actual transverse and longitudinal rocking angle value of the retraction system head mechanism and an angle value difference curve in real time to verify the active wave compensation precision and the compensation response time of the left and right swing oil cylinders 1012 and the rotary oil cylinder 1013.
S3 construction of active heave direction heave compensation land test system of retraction system
As shown in fig. 4 and 5, a heave wave simulation platform system 3 is arranged on the basis of S1, a rope is wound on a drum of the main winch 1011, the main winch is connected with a retraction target 102, and the retraction target 102 is driven by the main winch to lift and lower and perform heave compensation; the heave wave simulation rack system 3 comprises a rack main body 301, a rack winch 302, a fixed pulley 303, a rack winch measuring encoder 304, a rack hydraulic system and a rack winch manual operation device, wherein the rack main body 301 is arranged on a horizontal position and keeps a distance of 5-10 meters with the three-degree-of-freedom wave simulation swing platform system 2.
The bench winch 302 consists of a winch support 3021, a bench winch drum 3022 and a winch hydraulic motor 3023, the fixed pulley 303 is arranged at the top of the bench main body 301, a steel wire rope is erected on the fixed pulley, and two ends of the steel wire rope are respectively connected with the bench winch 302 and the weight 305; the gantry hydraulic system can drive the gantry winch drum 3022 to rotate forward or backward under the control of the gantry manual operation device, so as to control the ascending or descending movement of the weight 305, and the speed of the winch can be adjusted by adjusting the system pressure and the pushing and pulling degree of the manual operation device, so as to control the ascending and descending speed of the suspended weight.
The lower part of a main winch frame of the main winch 1011 is connected with a hoisting joint 1016 through a left-right swing oil cylinder 1012, the upper part of the main winch frame of the main winch 1011 is connected with a door frame main body of a retraction system through a rotary oil cylinder 1013, and the head mechanism posture measuring sensor 1014 is a double-shaft inclination angle sensor and is arranged on the upper plane of the hoisting joint 1016.
The main winch measuring encoder 1015 and the rack winch measuring encoder 304 are absolute value incremental encoders, are respectively coaxial with the main winch drum and the rack winch drum 3022, and are used for measuring the rotation speed and the rotation acceleration, and the heave speed and the heave acceleration of the retractable target 102 are obtained through unit conversion.
S4, carrying out active heave compensation onshore test of the heave direction of the retraction system
The control bench winch 302 pulls the steel wire rope to drive the weight 305 to do heaving reciprocating variable speed motion;
the bench winch measuring encoder 304 continuously generates pulse numerical value signals along with the rotation of the bench winch drum 3022, periodically acquires, records and sends the pulse numerical values to the controller, processes the acquired pulse numerical values to obtain speed values, uses the speed values as target values, transmits control signals to the electro-hydraulic proportional servo valve to drive the main winch 1011 to drive the retractable target 102 to do heave motion, and uses data information calculated by the main winch measuring encoder 1015 by using the same data processing method as feedback to form a control closed loop;
the heaving speed, the heaving acceleration and the heaving speed curve of the weight 305 of the retractable target 102 are displayed through an upper computer, the maximum heaving speed which can be reached by the weight 305 is measured through sampling and comparing collected data curves, the retractable target 102 and the weight 305 are a plurality of weights with the mass interval of 0.5-5T, the retractable target and the weights with different masses are replaced, the system pressure of the heaving sea wave simulation rack system is changed through repeated tests, and the maximum compensation speed, the maximum compensation acceleration, the compensation reaction time and the compensation effect of the retractable system 1 on the active wave compensation of the retractable target in the heaving direction under the maximum 6-level sea condition with the mass interval of 0.5-5T are verified.
As shown in fig. 6, specifically: the ship collecting and releasing system heave direction active wave compensation performance double-encoder scheme test is carried out, after the collecting and releasing system heave wave compensation function is started, an operator of a heave wave simulation rack system 3 operates a hydraulic push rod control rack winch 302 through an operation hand to pull a steel wire rope to drive a weight at the other end of the steel wire rope to do heave reciprocating variable speed motion, a rack winch measuring encoder 304 continuously generates a pulse numerical value signal along with the rotation of a rack winch drum 3022 and sends the pulse numerical value signal to a collecting and releasing system main controller in a Canopen communication mode, the collecting and releasing system main controller collects and records the pulse number difference value of the rack winch measuring encoder 304 in a period of 5ms, the collected pulse numerical value is processed (the collected pulse number difference value is multiplied by 12/the encoder rotation single-circle pulse number multiplied by pi multiplied by x (the diameter of the rack winch drum (mm) + the diameter of the steel wire rope (mm) multiplied by 2)) to obtain a speed value with the metering unit of m/min, and as a target value, a control signal is transmitted to a proportional servo valve to drive a main winch hydraulic motor, a winding drum of a main winch of the retraction system is driven to pull a retraction target 102 to do heave motion, data information calculated by a measurement encoder 1015 of the main winch of the retraction system by using the same data processing method is used as feedback to form a control closed loop, the heave compensation control of the retraction system on the retraction target is realized, an upper computer displays the heave speed and the heave acceleration of the retraction target 102 of the retraction system and the heave speed curve of a rack winch weight 305 in real time, the maximum heave speed of the rack winch weight can be measured by sampling and comparing the acquired data curves, and meanwhile, the maximum compensation speed of the retraction system on the heave direction active heave compensation of the retraction target with the mass interval of 0.5-5T under the maximum 6-grade sea condition can be verified through repeated tests of replacing the retraction target weight with different masses and changing the system pressure of a heave simulation rack system Degree, maximum compensation acceleration, compensation reaction time, compensation effect and the like.
The active wave compensation performance test in the heave direction of the marine retraction system can be carried out while the rolling and pitching performance tests are carried out, so that the overall wave compensation performance of the retraction system can be tested and verified under the condition of simulating the actual sea condition to the maximum extent, and a more powerful basis can be provided for the reliable and safe operation of the marine retraction system on the sea.
Claims (6)
1. A land test method for the active heave compensation performance of a marine retraction system is characterized by comprising the following steps:
s1, constructing active wave compensation rolling and pitching land test system of retraction system
The system comprises a retraction system (1) to be tested, wherein a wave compensation actuating mechanism is arranged on a head mechanism (101) of the retraction system (1), and the system comprises: the winch comprises a main winch (1011), a left-right swing oil cylinder (1012) connected with a main winch frame and a rotary oil cylinder (1013) connected with the main winch frame; the collecting and releasing system (1) is connected with a three-degree-of-freedom sea wave simulation swing platform system (2), a swing platform system attitude measuring unit (201), a head mechanism attitude measuring sensor (1014) for measuring the transverse and longitudinal swing attitudes of a head mechanism, and a main winch measuring encoder (1015);
s2, carrying out active wave compensation rolling and pitching land test of the retraction system
The three-degree-of-freedom sea wave simulation swing platform system (2) is controlled to work, and the controller of the retraction system (1) is used for reading the rolling and pitching information measured by the swing platform system attitude measurement unit (201);
the controller processes the roll and pitch information as corresponding input values, obtains the calculation result of the roll and pitch compensation algorithm, controls the electro-hydraulic proportional servo valves of the left and right swing oil cylinders (1012) and the rotary oil cylinder (1013) to work, and forms a control closed loop by taking the roll and pitch angle values of the head mechanism attitude measurement sensor (1014) as feedback;
active wave compensation precision and compensation reaction time of a left-right swing oil cylinder (1012) and a rotary oil cylinder (1013) are verified through a curve for displaying a transverse-longitudinal swing angle value measured by a swing table system attitude measuring unit (201) and an actual transverse-longitudinal swing angle value of a head mechanism of a retraction system by an upper computer and an angle value difference curve;
s3 construction of active heave direction heave compensation land test system of retraction system
A heave wave simulation rack system (3) is arranged on the basis of S1, a rope is wound on a winding drum of the main winch (1011) and is connected with a retraction target (102), and the retraction target (102) is driven by the main winch to lift, lower and execute heave compensation; the heave sea wave simulation rack system (3) comprises a rack main body (301), a rack winch (302), a fixed pulley (303), a rack winch measuring encoder (304), a rack hydraulic system and a rack winch manual operation device, wherein the rack main body (301) is arranged at a horizontal position, the rack winch (302) consists of a winch support (3021), a rack winch drum (3022) and a winch hydraulic motor (3023), the fixed pulley (303) is arranged at the top of the rack main body (301), a steel wire rope is erected on the rack main body, and two ends of the steel wire rope are respectively connected with the rack winch (302) and a weight (305); the bench hydraulic system can drive a bench winch drum (3022) to rotate forwards or backwards under the control of the bench manual operation device, so as to control the ascending or descending movement of the weight (305), and the speed of the winch can be adjusted by adjusting the system pressure and the push-pull degree of the manual operation device, so as to control the ascending and descending speed of the suspended weight;
s4, carrying out active heave compensation onshore test of the heave direction of the retraction system
Operating the bench winch (302) to pull the steel wire rope to drive the weight (305) to do heaving reciprocating variable speed motion;
the bench winch measuring encoder (304) continuously generates pulse numerical value signals along with the rotation of a bench winch drum (3022), periodically acquires, records and sends the pulse numerical value signals to a retraction system controller, the acquired pulse numerical value is processed to obtain a speed value and is used as a target value, a control signal is transmitted to an electro-hydraulic proportional servo valve to drive a main winch (1011) and drive a retraction target (102) to do heave motion, and data information calculated by the main winch measuring encoder (1015) by using the same data processing method is used as feedback to form a control closed loop;
the heave speed and the heave acceleration of the retractable target (102) and the heave speed curve of the weight (305) are displayed through an upper computer, the maximum heave speed which can be reached by the weight (305) is measured through sampling and comparing the collected data curves, and the maximum compensation speed, the maximum compensation acceleration, the compensation reaction time and the compensation effect of the active heave compensation in the heave direction of the retractable system (1) are verified through repeated experiments.
2. A method for on-land testing of active heave compensation performance of a marine retraction system according to claim 1, characterised in that:
the main winch (1011) comprises a main winch hydraulic motor, a main winch frame and a main winch drum, and the main winch hydraulic motor is controlled by applying a signal to the electro-hydraulic proportional servo valve through a controller to drive the hydraulic motor;
the left and right swing oil cylinders (1012) apply current signals to the electro-hydraulic proportional servo valve through the controller to be controlled, so that the functions of adjusting the head mechanism posture of the retraction system and compensating the rolling of the retraction system are realized;
and the rotary oil cylinder (1013) applies a current signal to the electro-hydraulic proportional servo valve through the controller to control, so that the functions of adjusting the head mechanism posture of the retraction system and pitch compensation of the retraction system are realized.
3. A method for on-land testing of active heave compensation performance of a marine retraction system according to claim 1, characterised in that: the three-degree-of-freedom sea wave simulation swing platform system (2) comprises a swing platform base (202), a swing platform upper platform (203), three swing platform oil cylinders (204) which are positioned between the swing platform base (202) and the swing platform upper platform (203) and are arranged in a triangular mode, a hydraulic system and a control system of the three-degree-of-freedom sea wave simulation swing platform system; the bottom of the collecting and releasing system (1) is arranged on an upper platform (203) of the swing platform, the attitude measuring unit (201) of the swing platform system is positioned at the geometric center of the upper platform (203) of the swing platform, and the measured transverse swing angle value and longitudinal swing angle value are transmitted to a controller and are respectively used as target values of the motion attitudes of the left swing oil cylinder (1012) and the right swing oil cylinder (1013).
4. A method for on-land testing of active heave compensation performance of a marine retraction system according to claim 1, characterised in that: the lower part of a main winch frame of the main winch (1011) is connected with a hoisting joint (1016) through a left-right swing oil cylinder (1012), the upper part of the main winch frame of the main winch (1011) is connected with a main door frame body of a retraction system through a rotary oil cylinder (1013), and a head mechanism attitude measurement sensor (1014) is a double-shaft inclination angle sensor and is arranged on the upper plane of the hoisting joint (1016).
5. A method for on-land testing of active heave compensation performance of a marine retraction system according to claim 1, characterised in that: the main winch measuring encoder (1015) and the rack winch measuring encoder (304) are absolute value incremental encoders which are respectively coaxial with the main winch drum and the rack winch drum (3022) and used for measuring the rotating speed and the rotating acceleration, and the heave speed and the heave acceleration of the retractable target (102) can be obtained through unit conversion.
6. A method for on-land testing of active heave compensation performance of a marine retraction system according to claim 1, characterised in that: the deploying and retracting target (102) and the weights (305) are a plurality of weights with the mass range of 0.5-5T, the system pressure repetition test of the heaving sea wave simulation rack system is changed by replacing the deploying and retracting targets and the weights with different masses, and the maximum compensation speed, the maximum compensation acceleration, the compensation reaction time and the compensation effect of the deploying and retracting system (1) on the heaving direction active wave compensation of the deploying and retracting target with the mass range of 0.5-5T under the maximum 6-level sea condition are verified.
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