Research on automatic balance control of self-elevating offshore wind turbine installation vessel

Automatic balance control in the jacking process of the self-elevating offshore wind turbine installation vessel is the guarantee of the vessel's safe operations. The automatic balance method in the movement of the wind turbine installation vessel is analyzed, and a leveling scheme by the proportion reversing valves as the actuator is proposed. Then, the leveling principle of heavy platform is studied; an automatic balance strategy which is the combination of displacement leveling strategy and angle leveling strategy is given. Also, an automatic balance control system of wind turbine installation vessel which is based on PLC and PROFIBUS-DP fieldbus is established. PLC is as the main controller. Fieldbus adopted to realize data transmission between master and slave. And the balance procedure based on PID is designed. The research shows that the control system has good control effect such as fast response, high precision and good stability.