船用吊艇架减摆机理建模与控制研究
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摘要
刚性连接的船用吊艇架与船用起重机类似,是用于海上进行小艇释放、回收作业的重要装置。但是当吊艇架进行小艇释放、回收作业时,海浪、海风等扰动因素引起的母船摇摆会通过吊艇架转移到吊点,引起摇臂下小艇的大幅度摆动,这不仅会导致小艇及设备的受损,甚至可能会导致人员的伤亡,因此,对吊艇架海上释放、回收小艇过程中小艇的摆动机理及其减摆控制技术进行分析研究,提高吊艇架可承受的作业海况及其系统的安全可靠性具有重要的现实意义。
本论文在查阅了国内外相关文献的基础上,采用坐标变换方法,对动态条件下母船摇摆到吊艇架端头摆动之间的传递关系进行了深入的分析研究,利用正向原理与逆向原理,建立了母船摇摆与吊点摆动之间的运动传递模型。在此基础上,以摇臂上部吊点运动对摇臂引起的扰动力作为输入,运用拉格朗日方程建立了吊艇摆动的动力学模型,并对影响吊艇摆动的因素进行了深入分析。建立了仿真分析模型,并进行了仿真分析研究,得到了影响小艇摆动的主要因素。
最后,在分析了基于液压缸的刚性连接吊艇架减摆原理与动力机构模型的基础上,以液压缸减摆补偿量为控制输入,采用神经元网络,分析设计了吊艇架主动式减摆控制策略,并对控制器的稳定性进行了分析研究,在此基础上,对基于神经元网络的吊艇架减摆控制策略进行了仿真,通过与传统PID控制仿真进行对比结果显示,该控制器能够较好减少小艇的摆动。
The marine davit of rigid connections is an important device used for releasing and recycling small boat under sea waves,which is similar to marine crane. While the davit releases or recoveries the small boat, the swing motion of the mother ship induced by sea wave can cause motion of hanging point of the davit, which will induce sharp swing of the small boat hanged on the arm of the davit. The sharp swing of the boat is very dangeous, it is not only may cause the damage of the boat and related equipments, but also induce casualties. Therefore, it has important significance to study the swing mechanism of the small boat in the process of releasing and recovering under sea waves, and to study anti-swing control technology.
In this paper, Basing on relate references both here and abroad, the dynamic motion transitive relation between the mother ship and end of the arm is analyzed deeply by using coordinate transformation method. After that, the motion transfer model between mother ship and handing point of the davit is established according to the positive and reverse kinematic principles. And then, the dynamic model of the davit is established with the Lagrange equation, in which, the disturbed force caused by motion of arm handing point is regarded as its input. After analysis factors influencing swing of small boat, the simulation model is established and siumation is done, from simulation result, main factors affecting the swing of the small boat are concluded.
Finally, basing on the anti-swing theory of rigid connective davit and model of actuator,by using neural cell net, an anti-swing controller is designed, in which the anti-swing compensation of the hydraulic cylinder is regarded as its driving unit, and the actualmovement value of the hydraulic cylinder as its output. After its stability is analyzed, and then the simulation on the anti-swing control system based on neural networks is done. In comparing with traditional pid controllor ,the results show that the controller can effectively reduce the swing of the small boat.
本论文在查阅了国内外相关文献的基础上,采用坐标变换方法,对动态条件下母船摇摆到吊艇架端头摆动之间的传递关系进行了深入的分析研究,利用正向原理与逆向原理,建立了母船摇摆与吊点摆动之间的运动传递模型。在此基础上,以摇臂上部吊点运动对摇臂引起的扰动力作为输入,运用拉格朗日方程建立了吊艇摆动的动力学模型,并对影响吊艇摆动的因素进行了深入分析。建立了仿真分析模型,并进行了仿真分析研究,得到了影响小艇摆动的主要因素。
最后,在分析了基于液压缸的刚性连接吊艇架减摆原理与动力机构模型的基础上,以液压缸减摆补偿量为控制输入,采用神经元网络,分析设计了吊艇架主动式减摆控制策略,并对控制器的稳定性进行了分析研究,在此基础上,对基于神经元网络的吊艇架减摆控制策略进行了仿真,通过与传统PID控制仿真进行对比结果显示,该控制器能够较好减少小艇的摆动。
The marine davit of rigid connections is an important device used for releasing and recycling small boat under sea waves,which is similar to marine crane. While the davit releases or recoveries the small boat, the swing motion of the mother ship induced by sea wave can cause motion of hanging point of the davit, which will induce sharp swing of the small boat hanged on the arm of the davit. The sharp swing of the boat is very dangeous, it is not only may cause the damage of the boat and related equipments, but also induce casualties. Therefore, it has important significance to study the swing mechanism of the small boat in the process of releasing and recovering under sea waves, and to study anti-swing control technology.
In this paper, Basing on relate references both here and abroad, the dynamic motion transitive relation between the mother ship and end of the arm is analyzed deeply by using coordinate transformation method. After that, the motion transfer model between mother ship and handing point of the davit is established according to the positive and reverse kinematic principles. And then, the dynamic model of the davit is established with the Lagrange equation, in which, the disturbed force caused by motion of arm handing point is regarded as its input. After analysis factors influencing swing of small boat, the simulation model is established and siumation is done, from simulation result, main factors affecting the swing of the small boat are concluded.
Finally, basing on the anti-swing theory of rigid connective davit and model of actuator,by using neural cell net, an anti-swing controller is designed, in which the anti-swing compensation of the hydraulic cylinder is regarded as its driving unit, and the actualmovement value of the hydraulic cylinder as its output. After its stability is analyzed, and then the simulation on the anti-swing control system based on neural networks is done. In comparing with traditional pid controllor ,the results show that the controller can effectively reduce the swing of the small boat.
引文
[1]刘震,洪海容,陈培基.吊艇架技术与标准的发展及相关问题探讨.船舶工程.2006,4:9-12页
[2]钟斌.基于吊重减摆控制的起重机快速对位关键技术研究.西南交通大学研究生学位论文.2005:40-52页
[3]谢江怡.补给工作艇收放装置选型设计分析.船舶.2007,4:49-51页
[4]贾铭新.液压传动与控制.国防工业出版社,2001:122-127页
[5]王铎,程靳.理论力学.第六版.高等教育出版社,2004:323-344页
[6]侯祥林,徐心和.单摆非线性系统阻尼参数的研究.2007中国控制与决策学术年会论文集.沈阳建筑大学,东北大学,2007:13-15页
[7]吴广玉,姜复兴编著.机器人工程导论.哈尔滨工业大学出版社,1988.3:81-120页
[8]张福学编著.机器人技术及其应用.电子工业出版社,2000.1:174-203页
[9]梁承姬,张纪元.机械式减摇机构的动力学模型及其数值计算.上海海运学院学报.2000,4:36-44页
[10]蔡自兴编著.机器人学.清华大学出版社,2000.9:46-51页
[11]郭建明.模糊控制在港口机械上的应用研究.港口装卸,2001,2:23-26
[12]蒋国仁.港口起重机械.大连海事大学出版社,1995
[14] SakawaY, ShindoY.Optimal Control of Container Cranes.Automatica, 1982,18(3): 257-266P
[15] AueringJW, TrogerH.Time Optimal Control of Overhead Cranes with Hoisting of the Load.Automatiea, 1987, 23(4): 437-447P
[16] Corriga G,GiuaA.An Implicit Gain-scheduling Controller for Cranes.IEEE Transaction on Control systems Technology, 1998, 6(1): 15-20P
[20] FiliPic,B./Urbaneic,T./Krizman,V.A combined machine learning and genetic algorithm approach to controller design. Egineering Applications ofArtificial Intelligence, 1999, 12(4): 401-409P
[21] Ho-Hoon Lee,Sung-Kun Cho.A new fuzzy-logic anti-swing control for industrial three-dimensional Overhead Crsnes.Proc.Of the 2001 IEEE International Conference On Robotics and Automation, 2001(3): 2956- 2961P
[22] J.Yu*,F.L.Lewis*,and T. Huang. Nonlinear Feedback Control of a Gantry Crane.Proceedings of the American Control Conference,Seatle, Washington, June1995
[23] Giorgio Bartolini,Alessandro Pisano,Elio Usai. Seeond-order sliding-mode control of container cranes.Automatiea 2002(38): 1783-1790P
[24]黄凯.智能减摆控制方法以及仿真研究环境技术.南京林业大学研究生博士学位论文.2007.6:11-15页
[25] D Clelland, BSc(Hons), MSc BS Lee, BSE, MSc, PhD, CEng, MRINA D Vassalos, BEng(Hons),PhD,CEng,FRINA.Active pendulation control system (APCS), 2004
[26]陈哲,吉熙章.机器人技术基础.机械工业出版杜,1997.10:10-19页
[27]郭巧编著.现代机器人学:仿生系统的运动感知与控制.北京理工大出版计.1999.7:33-55页
[28]孙迪生,王炎编著.机器人控制技术.机械工业出版计.1997.4:171-180页
[29]蒋余良,眭国忠.高海况下吊艇收放装置的技术与发展探讨.江苏船舶.2008.12
[30]刘震,洪海容,陈培基.吊艇架技术与标准的发展及相关问题探讨.船舶工程.2006.8
[31]舒怀林,神经元网络及其控制系统.国防工业社,2006:73-78页
[32]王农宝.船用燃油锅炉燃烧控制系统的研究.大连海事大学硕士学位论文.2008.5:51-67页
[32]郑安平.基于PID神经网络的三自由度飞行器模型控制研究.南京理工大学硕士学位论文.2008.6:55-68页
[33]舒怀林.输入输出非对称多变量系统的PID神经网络控制.第25届中国控制会议论文集(中册).2006.8:40-55页
[34]官忠范.液压传动系统.机械工业出版社,1997:69-74页
[35]梁利华.液压传动与电液伺服系统.哈尔滨工程大学出版社,2005:1-69页
[36] Hui-li Ren etc.Dynamic Response Analysis of a Moored Crane-ship with a Flexible Boom.Zhejiang University Science,2008.9(1): 26-31P
[37] Czeslaw Dymarski,Marek Kraskowski,Marek Sperski.Investigations of motion of the life boat lowered from ship’s deck.Operation and Economy,2006(3): 26-32P
[38] Onishi, E.,Tsuboi,I.,Egusa,T.,Uesugi,M..Automatic control of an overhead crane,Proceedings of the Eight Triennal IFAC World Congress,Volume 4:A. Mechanical Systems and Robots,Pergamon Press, 1982: 1885-1890P
[39] Lee,H..A new design approach for the anti-swing trajectory control of overhead cranes with high-speed hoisting.International Journal of Control, 77(10), 2004: 931-940P
[40] Yavin,Y.,Kemp,P.D..The application of extended inverse dynamics control, Computers and Mathematics with Applications, 40, 2000: 669-677P
[41] Cheng,C.C.,Chen,C.Y..Controller design for an overhead crane system with uncertainty. Control Eng Practice.1996,4(5): 645-653P
[42] Moustafa,K.A.F.. Feedback control of overhead cranes swing with variable rope length,Proceedings of the American Control Conference,Baltimore, MD,USA,Jun 29-Jul 1,1994: 691-695P
[43] Wei,L.,Zhixin,W.,Baoliang,Q.,Shijun,S.,Caishan,L..The Mathematical Model of the Load vibration-sway on fixed Type Tower Cranes.Modeling, Measurement & Control B: Solid & Fluid Mechanics & Thermics, Mechanical Systems, Robotics, Civil engineering.1993,51(3): 1-12P
[44] Matthias,K.,Kirsten,N..Dynamische beanspruchung im dreh - und wippwek von doppellenker-wippdrehkranen-Teil 1.Hebezeuge and F?rdermittel, 9, 1984: 278-279P
[45] Matthias,K.,Kirsten,N..Dynamische beanspruchung im dreh - und wippwekvon doppellenker-wippdrehkranen-Teil 2.Hebezeuge and F?rdermittel. 1984,10: 303-305P
[46] Cartmell,M.P.,Morrish,L.,Taylor,A.J..Dynamics of Spreader Motion in a Gantry Crane,Proceedings of the Institution of Mechanical Engineers,Part C,Journal of Mechanical Engineering Science.1998,212(2): 85-105P
[2]钟斌.基于吊重减摆控制的起重机快速对位关键技术研究.西南交通大学研究生学位论文.2005:40-52页
[3]谢江怡.补给工作艇收放装置选型设计分析.船舶.2007,4:49-51页
[4]贾铭新.液压传动与控制.国防工业出版社,2001:122-127页
[5]王铎,程靳.理论力学.第六版.高等教育出版社,2004:323-344页
[6]侯祥林,徐心和.单摆非线性系统阻尼参数的研究.2007中国控制与决策学术年会论文集.沈阳建筑大学,东北大学,2007:13-15页
[7]吴广玉,姜复兴编著.机器人工程导论.哈尔滨工业大学出版社,1988.3:81-120页
[8]张福学编著.机器人技术及其应用.电子工业出版社,2000.1:174-203页
[9]梁承姬,张纪元.机械式减摇机构的动力学模型及其数值计算.上海海运学院学报.2000,4:36-44页
[10]蔡自兴编著.机器人学.清华大学出版社,2000.9:46-51页
[11]郭建明.模糊控制在港口机械上的应用研究.港口装卸,2001,2:23-26
[12]蒋国仁.港口起重机械.大连海事大学出版社,1995
[14] SakawaY, ShindoY.Optimal Control of Container Cranes.Automatica, 1982,18(3): 257-266P
[15] AueringJW, TrogerH.Time Optimal Control of Overhead Cranes with Hoisting of the Load.Automatiea, 1987, 23(4): 437-447P
[16] Corriga G,GiuaA.An Implicit Gain-scheduling Controller for Cranes.IEEE Transaction on Control systems Technology, 1998, 6(1): 15-20P
[20] FiliPic,B./Urbaneic,T./Krizman,V.A combined machine learning and genetic algorithm approach to controller design. Egineering Applications ofArtificial Intelligence, 1999, 12(4): 401-409P
[21] Ho-Hoon Lee,Sung-Kun Cho.A new fuzzy-logic anti-swing control for industrial three-dimensional Overhead Crsnes.Proc.Of the 2001 IEEE International Conference On Robotics and Automation, 2001(3): 2956- 2961P
[22] J.Yu*,F.L.Lewis*,and T. Huang. Nonlinear Feedback Control of a Gantry Crane.Proceedings of the American Control Conference,Seatle, Washington, June1995
[23] Giorgio Bartolini,Alessandro Pisano,Elio Usai. Seeond-order sliding-mode control of container cranes.Automatiea 2002(38): 1783-1790P
[24]黄凯.智能减摆控制方法以及仿真研究环境技术.南京林业大学研究生博士学位论文.2007.6:11-15页
[25] D Clelland, BSc(Hons), MSc BS Lee, BSE, MSc, PhD, CEng, MRINA D Vassalos, BEng(Hons),PhD,CEng,FRINA.Active pendulation control system (APCS), 2004
[26]陈哲,吉熙章.机器人技术基础.机械工业出版杜,1997.10:10-19页
[27]郭巧编著.现代机器人学:仿生系统的运动感知与控制.北京理工大出版计.1999.7:33-55页
[28]孙迪生,王炎编著.机器人控制技术.机械工业出版计.1997.4:171-180页
[29]蒋余良,眭国忠.高海况下吊艇收放装置的技术与发展探讨.江苏船舶.2008.12
[30]刘震,洪海容,陈培基.吊艇架技术与标准的发展及相关问题探讨.船舶工程.2006.8
[31]舒怀林,神经元网络及其控制系统.国防工业社,2006:73-78页
[32]王农宝.船用燃油锅炉燃烧控制系统的研究.大连海事大学硕士学位论文.2008.5:51-67页
[32]郑安平.基于PID神经网络的三自由度飞行器模型控制研究.南京理工大学硕士学位论文.2008.6:55-68页
[33]舒怀林.输入输出非对称多变量系统的PID神经网络控制.第25届中国控制会议论文集(中册).2006.8:40-55页
[34]官忠范.液压传动系统.机械工业出版社,1997:69-74页
[35]梁利华.液压传动与电液伺服系统.哈尔滨工程大学出版社,2005:1-69页
[36] Hui-li Ren etc.Dynamic Response Analysis of a Moored Crane-ship with a Flexible Boom.Zhejiang University Science,2008.9(1): 26-31P
[37] Czeslaw Dymarski,Marek Kraskowski,Marek Sperski.Investigations of motion of the life boat lowered from ship’s deck.Operation and Economy,2006(3): 26-32P
[38] Onishi, E.,Tsuboi,I.,Egusa,T.,Uesugi,M..Automatic control of an overhead crane,Proceedings of the Eight Triennal IFAC World Congress,Volume 4:A. Mechanical Systems and Robots,Pergamon Press, 1982: 1885-1890P
[39] Lee,H..A new design approach for the anti-swing trajectory control of overhead cranes with high-speed hoisting.International Journal of Control, 77(10), 2004: 931-940P
[40] Yavin,Y.,Kemp,P.D..The application of extended inverse dynamics control, Computers and Mathematics with Applications, 40, 2000: 669-677P
[41] Cheng,C.C.,Chen,C.Y..Controller design for an overhead crane system with uncertainty. Control Eng Practice.1996,4(5): 645-653P
[42] Moustafa,K.A.F.. Feedback control of overhead cranes swing with variable rope length,Proceedings of the American Control Conference,Baltimore, MD,USA,Jun 29-Jul 1,1994: 691-695P
[43] Wei,L.,Zhixin,W.,Baoliang,Q.,Shijun,S.,Caishan,L..The Mathematical Model of the Load vibration-sway on fixed Type Tower Cranes.Modeling, Measurement & Control B: Solid & Fluid Mechanics & Thermics, Mechanical Systems, Robotics, Civil engineering.1993,51(3): 1-12P
[44] Matthias,K.,Kirsten,N..Dynamische beanspruchung im dreh - und wippwek von doppellenker-wippdrehkranen-Teil 1.Hebezeuge and F?rdermittel, 9, 1984: 278-279P
[45] Matthias,K.,Kirsten,N..Dynamische beanspruchung im dreh - und wippwekvon doppellenker-wippdrehkranen-Teil 2.Hebezeuge and F?rdermittel. 1984,10: 303-305P
[46] Cartmell,M.P.,Morrish,L.,Taylor,A.J..Dynamics of Spreader Motion in a Gantry Crane,Proceedings of the Institution of Mechanical Engineers,Part C,Journal of Mechanical Engineering Science.1998,212(2): 85-105P