深海采矿船升沉模拟平台运动控制研究
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摘要
根据现阶段的研究,深海采矿船在海浪的影响下所产生的六个运动中,艏摇、纵荡和横荡可以通过动力定位进行消除,纵横摇可由升沉补偿装置中的万向架得到补偿,也就是说,只需要解决采矿船升沉运动的补偿就可以了。因此本文致力于对采矿船升沉运动的研究,为下一步升沉运动的补偿系统研究打下基础。
本文的主要目标是进行深海采矿船升沉运动模拟平台电液伺服控制系统的特性分析及控制策略研究。在分析模拟平台液压驱动系统动态性能的基础上,对电液位置伺服控制系统进行特性分析、理论建模等基础性研究,然后对模拟平台的控制算法进行研究,通过试验验证得出符合模拟平台的工程应用和精度要求的控制算法。本文主要成果和结论如下：
1、根据深海采矿船的作业条件,研究了升沉运动模拟平台机械结构和液压动力系统,并对阀控非对称缸系统进行了数学建模仿真,在Simulink软件中建模得出液压缸输出特性曲线,依此进行了仿真验证；
2、通过所建立的模型,对阀控非对称缸系统压力特性和由于非对称缸正反向运动不对称等所引起的系统非线性因素进行了分析,为其控制策略的研究提供比较接近于实际系统的仿真模型。
3、对模拟平台进行了增量式PID控制和相应非线性系统的模糊自整定PID控制研究,通过理论分析和建模,选择了能达到平台模拟实际运动中各项技术指标要求的控制算法,有效提高了模拟平台的运动姿态精度。
4、提出并完成了利用LabVIEW和Matlab/Simulink两种软件针对阀控非对称缸系统控制策略的联合仿真,实现了两个软件的优势互补,取得了良好的可视化效果,也为今后课题的研究设计提供了便利。
5、应用LabVIEW软件编制了主控制软件,对模拟平台进行了综合试验研究,验证了阀控缸系统建模和控制策略的正确性和科学性,实验表明,深海采矿船升沉运动模拟平台的设计达到了各项指标的要求。
According to the current study, deep-ocean mining vessel generates six motions under the influence of waves which the bow shake, vertical swing and sway can eliminate by the dynamic positioning system, and vertical-horizontal shaking can compensate by the Universal Holder in heave compensation device, that is, the only problem is to solve the compensation of mining vessel's heave-sink motion. Therefore, this article is committed to the study of mining vessel's heave-sink motion, and to lay the foundation to the compensation system of heave motion for the further study.
The main aim of this paper is the characteristics'analysis and control strategy study of electro-hydraulic Servo Control System for heave motion simulation platform of deep-ocean mining vessel. Based on the analysis of the performance of hydraulic drive system of simulation platform, the basic study which includes characteristics analysis and theoretical simulation of electro-hydraulic position servo control system is done, then the control algorithm for heave motion simulation platform of mining vessel is also researched, the control algorithm which meets the precise requirement and engineering application has been verified by experiments.
The main results and conclusions are shown as following:
1. According to the working condition of deep-ocean mining vessel, the mechanical structure and hydraulic dynamic system of heave motion simulation platform is researched, furthermore the nonlinear mathematical simulation and model of valve controlled asymmetrical cylinder system is conducted, on the basis of modeling by using Simulink software and obtaining the hydraulic output-characterisitc curve, the verified simulation is done.
2. Through the built model, it is analyzed that the pressure characteristics of valve controlled asymmetrical cylinder system and system nonlinear factors owing to the asymmetry of positive and reverse motion of asymmetrical cylinder, providing the simulation model which is closed to actual condition for the research of control strategy.
3. Incremental PID control and the fuzzy self-tuning PID control of corresponding nonlinear system is performed for simulation platform, by theoretical analysis and model, the control algorithm which meets the requirements of all technical specifications in simulation of actual motion of platform is chosen, the motion attitude precision of simulation platform is effectively improved.
4. The joint simulation aiming at valve controlled asymmetrical cylinder system using LabVIEW and Matlab/Simulink is proposed and finished, achieving complement of each other's advantage to achieve a good visual effect, also supplying facilities for research design of further task.
5. By the LabVIEW software main control software is compiled and the comprehensive experiment research for simulation platform is conducted, then it is verified the correct and Scientific aspects of the system nonlinear model, parameter selection and control strategy. The experiment indicates that the design of heave motion simulation platform of deep-ocean mining vessel meets the demand of all the indexes.
本文的主要目标是进行深海采矿船升沉运动模拟平台电液伺服控制系统的特性分析及控制策略研究。在分析模拟平台液压驱动系统动态性能的基础上,对电液位置伺服控制系统进行特性分析、理论建模等基础性研究,然后对模拟平台的控制算法进行研究,通过试验验证得出符合模拟平台的工程应用和精度要求的控制算法。本文主要成果和结论如下：
1、根据深海采矿船的作业条件,研究了升沉运动模拟平台机械结构和液压动力系统,并对阀控非对称缸系统进行了数学建模仿真,在Simulink软件中建模得出液压缸输出特性曲线,依此进行了仿真验证；
2、通过所建立的模型,对阀控非对称缸系统压力特性和由于非对称缸正反向运动不对称等所引起的系统非线性因素进行了分析,为其控制策略的研究提供比较接近于实际系统的仿真模型。
3、对模拟平台进行了增量式PID控制和相应非线性系统的模糊自整定PID控制研究,通过理论分析和建模,选择了能达到平台模拟实际运动中各项技术指标要求的控制算法,有效提高了模拟平台的运动姿态精度。
4、提出并完成了利用LabVIEW和Matlab/Simulink两种软件针对阀控非对称缸系统控制策略的联合仿真,实现了两个软件的优势互补,取得了良好的可视化效果,也为今后课题的研究设计提供了便利。
5、应用LabVIEW软件编制了主控制软件,对模拟平台进行了综合试验研究,验证了阀控缸系统建模和控制策略的正确性和科学性,实验表明,深海采矿船升沉运动模拟平台的设计达到了各项指标的要求。
According to the current study, deep-ocean mining vessel generates six motions under the influence of waves which the bow shake, vertical swing and sway can eliminate by the dynamic positioning system, and vertical-horizontal shaking can compensate by the Universal Holder in heave compensation device, that is, the only problem is to solve the compensation of mining vessel's heave-sink motion. Therefore, this article is committed to the study of mining vessel's heave-sink motion, and to lay the foundation to the compensation system of heave motion for the further study.
The main aim of this paper is the characteristics'analysis and control strategy study of electro-hydraulic Servo Control System for heave motion simulation platform of deep-ocean mining vessel. Based on the analysis of the performance of hydraulic drive system of simulation platform, the basic study which includes characteristics analysis and theoretical simulation of electro-hydraulic position servo control system is done, then the control algorithm for heave motion simulation platform of mining vessel is also researched, the control algorithm which meets the precise requirement and engineering application has been verified by experiments.
The main results and conclusions are shown as following:
1. According to the working condition of deep-ocean mining vessel, the mechanical structure and hydraulic dynamic system of heave motion simulation platform is researched, furthermore the nonlinear mathematical simulation and model of valve controlled asymmetrical cylinder system is conducted, on the basis of modeling by using Simulink software and obtaining the hydraulic output-characterisitc curve, the verified simulation is done.
2. Through the built model, it is analyzed that the pressure characteristics of valve controlled asymmetrical cylinder system and system nonlinear factors owing to the asymmetry of positive and reverse motion of asymmetrical cylinder, providing the simulation model which is closed to actual condition for the research of control strategy.
3. Incremental PID control and the fuzzy self-tuning PID control of corresponding nonlinear system is performed for simulation platform, by theoretical analysis and model, the control algorithm which meets the requirements of all technical specifications in simulation of actual motion of platform is chosen, the motion attitude precision of simulation platform is effectively improved.
4. The joint simulation aiming at valve controlled asymmetrical cylinder system using LabVIEW and Matlab/Simulink is proposed and finished, achieving complement of each other's advantage to achieve a good visual effect, also supplying facilities for research design of further task.
5. By the LabVIEW software main control software is compiled and the comprehensive experiment research for simulation platform is conducted, then it is verified the correct and Scientific aspects of the system nonlinear model, parameter selection and control strategy. The experiment indicates that the design of heave motion simulation platform of deep-ocean mining vessel meets the demand of all the indexes.
引文
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