升沉补偿样机系统的设计与实现
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摘要
搭建了一个升沉补偿样机系统,对其机械原理与基本构成进行了分析。基于Qt和S7-300构建了样机的控制系统。采用了姿态仪传感器对平台的位移数据进行了采集,由于此传感器存在时间滞后,而时间滞后会带来样机补偿效果的变差,于是采用了基于AR(P)的预报方法对姿态仪信号数据进行了实时处理,并通过MATLAB进行仿真来验证此方法的有效性。样机系统采用的是成熟的PID控制算法与前馈算法,并在样机系统上进行了实验,得到了良好的补偿效果。还对误差来源进行了分析,为将来工程实际应用打下了基础。
In this paper,aprototype system for heave compensation is built,and the mechanical principle and basic constitution is analyzed.A prototype control system based on QT and S7-300 was firstly constructed,and the displacement data of the platform was collected by the attitude sensor.Then,the AR(P)based prediction method was used to process the signal data of the attitude instrument in real time because the sensor has time delay,which would bring about the variation of compensation effect of the prototype.Next,the effectiveness of this method was verified by MATLAB simulation.Finally,the prototype system adopted mature PID control algorithm and feed-forward algorithm,on which an experiment was carried out with good compensation effect obtained.The source of error was also analyzed,laying a foundation for future practical application of the project.
In this paper,aprototype system for heave compensation is built,and the mechanical principle and basic constitution is analyzed.A prototype control system based on QT and S7-300 was firstly constructed,and the displacement data of the platform was collected by the attitude sensor.Then,the AR(P)based prediction method was used to process the signal data of the attitude instrument in real time because the sensor has time delay,which would bring about the variation of compensation effect of the prototype.Next,the effectiveness of this method was verified by MATLAB simulation.Finally,the prototype system adopted mature PID control algorithm and feed-forward algorithm,on which an experiment was carried out with good compensation effect obtained.The source of error was also analyzed,laying a foundation for future practical application of the project.
引文
[1]曾智刚.波浪运动升沉补偿液压平台关键问题试验研究[D].广州:华南理工大学,2010.
[2]吴隆明.深海作业起重机主动式升沉补偿控制系统的研究与开发[D].广州:华南理工大学,2012.
[3]杨东超,唐国元.滑模控制在升沉补偿系统中的应用[C]//聚焦应用支撑创新——船舶力学学术委员会测试技术学组2016年学术会议论文集,2016:295-301.
[4]鲜玲.深海作业起重机主动式升沉补偿预测模型算法研究[D].广州:华南理工大学,2014.
[5]高磊.船舶甲板吊放设备升沉补偿系统研究[D].武汉:华中科技大学,2015.
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[9]ZHANG Y T,LI A,ZHANG W K,et al.Virtual experiment and research for heave compensation system[C]//Proceedings of the 2011International Conference on Fluid Power and Mechatronics,2011:270-275.
[2]吴隆明.深海作业起重机主动式升沉补偿控制系统的研究与开发[D].广州:华南理工大学,2012.
[3]杨东超,唐国元.滑模控制在升沉补偿系统中的应用[C]//聚焦应用支撑创新——船舶力学学术委员会测试技术学组2016年学术会议论文集,2016:295-301.
[4]鲜玲.深海作业起重机主动式升沉补偿预测模型算法研究[D].广州:华南理工大学,2014.
[5]高磊.船舶甲板吊放设备升沉补偿系统研究[D].武汉:华中科技大学,2015.
[6]杨叔子,杨克冲,吴波,等.机械工程控制基础[M].武汉:华中科技大学出版社,2005.
[7]王春行.液压控制系统[M].北京:机械工业出版社,1999.
[8]DRISCOLL F R,LUECK R G,NAHON M.Development and validation of a lumped mass dynamics model of a deep sea ROV system[J].Applied Ocean Research,2000,22(3)169-182.
[9]ZHANG Y T,LI A,ZHANG W K,et al.Virtual experiment and research for heave compensation system[C]//Proceedings of the 2011International Conference on Fluid Power and Mechatronics,2011:270-275.