The tension of a marine winch rope depends on the hydraulic pressure supplied to its input hydraulic motor. Traditionally, winches employ a relief valve to control the oil pressure of hydraulic motors. Owing to the inherent control characteristics of the relief valve, this control mode leads to continuous fluctuations in the system oil pressure, causing severe variations in the rope tension during operation. In this study, a direct-acting three-way proportional pressure-reducing valve was used to control the oil pressure of the winch, ensuring that the input pressure to the hydraulic motor was maintained at a set value, thereby mitigating the risk of drastic fluctuations in rope tension during vessel mooring. However, proportional pressure-reducing valve control exhibits shortcomings, such as static nonlinearities, insufficient dynamic response, and poor anti-interference stability, leading to oscillations in the outlet oil pressure and resulting in rope tension fluctuations in the winch. Based on the force and flow balance equations of the proportional pressure-reducing valve and in conjunction with the load characteristics of the winch, a mathematical model of the winch control system was established. An operating point for the pressure-reducing valve was determined, and the control system model was linearized. According to the Bode plot and frequency-domain index analysis, four key parameters affecting the outlet pressure fluctuation of the pressure-reducing valve were identified (valve port flow gain coefficient, viscous damping coefficient, transient hydraulic damping coefficient, and hydraulic spring stiffness). From the perspective of winch operation management, the working parameters of the hydraulic system were adjusted accordingly, and their effects on the four key parameters were analyzed. The results, in combination with model linearization and Bode plot analysis, indicate that appropriately lowering the operating temperature of the hydraulic oil can effectively improve the frequency-domain indices and stability margin of the control system, significantly enhancing the relative stability of the marine winch rope tension.
Lin et al. (Fri,) studied this question.