船用大功率液压绞车特性分析及控制研究

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题名	船用大功率液压绞车特性分析及控制研究
作者	陈琦
学位类别	博士
答辩日期	2017-05-26
授予单位	中国科学院沈阳自动化研究所
授予地点	沈阳
导师	李伟 ; 王晓辉
关键词	埋缆作业恒张力绞车 ROV作业升沉补偿系统
其他题名	Research on Dynamic Characteristics and Control of High-power Marine Hydraulic Winch
学位专业	模式识别与智能系统
中文摘要	本文的研究涵盖了船用大功率液压绞车恒张力控制问题和位置控制问题。相关研究成果分别应用于中国科学院沈阳自动化研究所研制的海缆埋设机恒张力绞车和ROV升沉补偿收放绞车。本文的研究具体包括船用大功率液压绞车建模及动态特性分析、海缆埋设机恒张力控制系统研究和基于收放绞车的ROV升沉补偿系统研究。研究内容如下：（1）分析船用大功率液压绞车的动态特性。本文研究的液压绞车属于阀控马达液压系统，是典型的非线性、参数时变系统。本文结合船用大功率液压绞车的应用特点，对液压绞车的压力-流量特性进行了研究。通过对液压系统微分方程组进行理论求解，分析了导致液压系统非线性动态特性的关键变量。（2）建立船用大功率液压绞车计算机仿真模型。通过采用传递函数的方法建立了液压绞车动力学方程及液压系统仿真模型。建立的液压绞车计算机仿真模型能够方便绞车控制算法的参数整定工作。为了验证所建立模型有效性，本文对建立的液压绞车数学模型进行了验证，并且与真实环境的实验结果进行了对比，证明建立的液压绞车计算机仿真模型能够准确地表达绞车控制信号与绞车输出变量之间的动态关系。（3）以海缆埋设机恒张力绞车为研究对象，开展了基于自适应模糊P+ID控制算法的船用大功率液压绞车恒张力控制方法研究。由于大功率液压绞车系统具有的非线性、大滞后特性，导致原有的PID控制器难以得到满意的张力控制效果。而自适应模糊P+ID控制系统能够很好地解决非线性控制问题。模糊P+ID控制器仅将传统的PID控制器比例项替换成模糊控制器，不仅能够提高控制效果而且不会改变原系统稳定性。本文增加了自适应系数，使得自适应模糊P+ID控制器能够提高不同张力设定值时的控制效果。（4）采用MATLAB模拟仿真传统PID控制器、模糊P+ID控制器以及自适应模糊P+ID应用于拖曳绞车恒张力控制的效果。开展了阶跃响应仿真实验和张力突变时控制系统的动态响应实验。仿真数据证明了自适应模糊P+ID控制器比传统PID控制器具备更好的跟踪和抗干扰性能，同时提高了模糊P+ID控制器的自适应能力。为了验证基于自适应模糊P+ID控制器的恒张力绞车实际作业能力，进行了海缆埋设机恒张力绞车海上实验研究。拖曳缆绳的张力会受到船舶升沉、拖曳力及波浪的影响，导致在海洋环境下保持恒张力非常困难。而且布缆船设计的工作海况是4级，所以恒张力绞车的海上试验是在4级海况下进行的。海试结果证明了自适应模糊P+ID控制器能够满足恒张力绞车的设计需求，并且已经取代传统的PID控制器安装在绞车控制系统上用于布缆作业。（5）开展了基于收放绞车的主动式升沉补偿系统研究，并且应用于ROV作业。该项研究的核心问题就是母船升沉位移的估算和收放绞车的位置控制。首先，采用自适应巴特沃斯滤波器对惯性测量单元（IMU）的数据进行运算得出母船升沉运动位移。在此基础上设计了基于模糊P+ID的升沉补偿控制系统使其可以根据母船升沉位移来控制绞车的转动，从而跟踪母船升沉运动，抵消母船升沉运动对ROV作业的影响。最后通过仿真实验和实验室试验证明了模糊P+ID控制器比传统PID控制器在应用于升沉补偿控制系统时具备更好的鲁棒性。
英文摘要	The research of this paper covers the problems of constant tension control and position control of high-power marine hydraulic winch. Research results are applied for towing winch for cable laying and ROV launching which are designed by Shenyang Institute of Automation, Chinese Academy of Sciences. The study includes modeling of the hydraulic winch, designing the constant tension controller for cable laying and heave compensation system for ROV. Main contents of this paper are shown as follows: (1) The dynamic characteristics of the high-power marine hydraulic winch are analyzed. The winches researched in this paper are valve-controlled hydro-motor system with typical highly nonlinear and time varying characteristics. The characteristics of the pressure-flow of the hydraulic winch are studied based on the characteristics of the high power hydraulic winch. By solving the differential equations of hydraulic system, the key variables of the nonlinear dynamic characteristics of hydraulic system are analyzed. (2) The mathematic model of the high-power marine hydraulic winch is developed. The dynamic equation and the simulation model of the hydraulic winch are established by using the transfer function method. The simulation model can be used to adjust the parameters of the control algorithm. To verify the effectiveness of the model, the simulation of the hydraulic winch model are developed and compared with the real test. The results demonstrate that the developed model describes the dynamic relationship between input values and output values well. (3) Research on the constant tension winch by adaptive FUZZY P+ID controller is conducted for cable laying task. Due to the highly nonlinear and large curvature characteristics of the hydraulic winch, the conventional PID controller can not yield a desired control performance. The adaptive FUZZY P+ID controller can solve nonlinear problem well. The FUZZY P+ID controller only substituted the proportion term in the conventional PID controller with the fuzzy logic controller, resulting in control improved without changing the stability of the system. The adaptive FUZZY P+ID controller can yield a satisfied control result by adding the adaptive coefficient. (4) MATLAB was used to simulate the control performance of the conventional PID, the FUZZY P+ID controller, and the adaptive FUZZY P+ID controllers for constant tension control system. To evaluate the control performance of these controllers, the step response control and the response under tension variations are selected for simulation studies. The simulation results show that the adaptive FUZZY P+ID controller has a better tracking and anti-disturbance ability than the conventional PID controller, and improve the adaptive ability than the FUZZY P+ID controller well. To evaluate the effectiveness and robustness of the adaptive FUZZY P+ID controller under the sea, sea trials were carried out. Maintaining constant tension towing rope under sea condition is very difficult because the tension on the towing rope will be affected by large uncertain disturbances such as the buoyancy, the drag force, and wave effects. However, the cable laying ship is designed to operate in sea state 4, so the sea trials were carried out in sea state 4. The sea trials presented demonstrated that the adaptive FUZZY P+ID controller met the requirements of the constant tension towing winch and has replaced the conventional PID controller on the towing winch for routine operations. (5) The active heave compensation system based on the launch and recover winch is developed and applied to the ROV operation. The essential study is to calculate the heave motion of the vessel and the position control of the winch. First, the heave motion of the vessel is calculated based on measurements from an inertial measurement unit (IMU) using a digital high-pass filter. Then the heave compensation system based on the FUZZY P+ID controller is designed which can control the rotation of the winch according to the motion of the vessel. Finally simulation studies and real device experiments were conduct to demonstrate the FUZZY P+ID controller is much more robust than the conventional PID controller for heave compensation system.
语种	中文
产权排序	1
内容类型	学位论文
源URL	[http://ir.sia.cn/handle/173321/20518]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	陈琦. 船用大功率液压绞车特性分析及控制研究[D]. 沈阳. 中国科学院沈阳自动化研究所. 2017.