主动式波浪补偿控制系统研究
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摘要
船舶海上补给能力是决定海上作业和海军远洋作战能力的重要因素,而风、浪、流的作用使补给船与被补给船发生相对运动,干扰补给设备正常作业,导致海上补给非常困难。采用波浪补偿技术能较好地解决这一海上补给难题。波浪补偿控制系统是波浪补偿系统的核心,控制系统良好的控制性能和可操作性是波浪补偿系统安全高效作业的前提。
论文分析了主动式波浪补偿的基本原理,设计了波浪补偿控制系统方案,提出了基于前馈补偿—反馈校正的波浪补偿复合控制策略。其中,采用单神经元自适应PID控制方法实现闭环反馈控制,以提高控制系统静动态特性;采用时间序列分析预报方法实现前馈补偿控制,以补偿船舶相对运动对补给装备的干扰。
建立了主动式波浪补偿系统控制模型;分别采取反馈环节和前馈环节的控制算法,完成了两环节的单独控制仿真与复合控制仿真;在控制系统仿真的基础上,完成了主动式波浪补偿缩比试验系统的控制试验。仿真与缩比试验结果表明控制系统设计合理,控制算法正确,系统具有良好静动态特性,补偿精度高。
The offshore sealifts capacity of ship is an important factor that determines the maritime works and operational abilities of the navy. The effect of ocean wind, wave and flow causes a relative motion between the depot ship and the receiving ship, which interferes the sealift equipment and makes the replenishment operation extraordinarily hard. This problem can be effectively solved in a certain extent by heave compensation. The control system of heave compensation is the kernel of heave compensation systems (HCS). The performance and operation characteristic of control system are primary for the HCS operating safely and effectively.
The fundamental principle of active heave compensation system (AHCS) is analyzed. The active heave compensation control system (AHCCS) is designed. A blended control strategy based on feed-forward compensating and feed-back adjusting method is presented. The feed-back controller is achieved by using the single neuron adaptive PID control method to advance the static and the dynamic performance of AHCCS, and the feed-forward controller is achieved by using the time series analysis prediction method to compensate the interference.
The control model of AHCS is established. The feed-back part and feed-forward part are simulated by using the control arithmetic respectively and the blended control model is simulated as well. Based on the method of simulation for control system, the characteristic of the control system is tested by means of the AHCS scale model system. The results from the simulation and the testing of scale model indicate that the AHCCS has a good performance on two aspects of static and dynamic. It's proved that the design of AHCCS is effective and the control arithmetic is correct.
论文分析了主动式波浪补偿的基本原理,设计了波浪补偿控制系统方案,提出了基于前馈补偿—反馈校正的波浪补偿复合控制策略。其中,采用单神经元自适应PID控制方法实现闭环反馈控制,以提高控制系统静动态特性;采用时间序列分析预报方法实现前馈补偿控制,以补偿船舶相对运动对补给装备的干扰。
建立了主动式波浪补偿系统控制模型;分别采取反馈环节和前馈环节的控制算法,完成了两环节的单独控制仿真与复合控制仿真;在控制系统仿真的基础上,完成了主动式波浪补偿缩比试验系统的控制试验。仿真与缩比试验结果表明控制系统设计合理,控制算法正确,系统具有良好静动态特性,补偿精度高。
The offshore sealifts capacity of ship is an important factor that determines the maritime works and operational abilities of the navy. The effect of ocean wind, wave and flow causes a relative motion between the depot ship and the receiving ship, which interferes the sealift equipment and makes the replenishment operation extraordinarily hard. This problem can be effectively solved in a certain extent by heave compensation. The control system of heave compensation is the kernel of heave compensation systems (HCS). The performance and operation characteristic of control system are primary for the HCS operating safely and effectively.
The fundamental principle of active heave compensation system (AHCS) is analyzed. The active heave compensation control system (AHCCS) is designed. A blended control strategy based on feed-forward compensating and feed-back adjusting method is presented. The feed-back controller is achieved by using the single neuron adaptive PID control method to advance the static and the dynamic performance of AHCCS, and the feed-forward controller is achieved by using the time series analysis prediction method to compensate the interference.
The control model of AHCS is established. The feed-back part and feed-forward part are simulated by using the control arithmetic respectively and the blended control model is simulated as well. Based on the method of simulation for control system, the characteristic of the control system is tested by means of the AHCS scale model system. The results from the simulation and the testing of scale model indicate that the AHCCS has a good performance on two aspects of static and dynamic. It's proved that the design of AHCCS is effective and the control arithmetic is correct.
引文
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