基于模糊逻辑系统的采矿船升沉补偿控制方法研究
DOI:
作者:
作者单位:

1.上海海事大学;2.上海海事大学物流工程学院;3.同济大学铁道与城市轨道交通研究院;4.上海振华重工集团股份有限公司

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中图分类号:

P742

基金项目:

上海市科委资助项目:海上采矿船升沉运动补偿技术研究(19DZ1207304)


Research on mining ship heave compensation control method based on fuzzy logic system
Author:
Affiliation:

1.上海海事大学;2.School of Logistics Engineering,Shanghai Maritime University;3.Institute of Railway and Urban Rail Transit,Tongji University;4.Shanghai Zhenhua Heavy Industry Group Co,LTD

Fund Project:

Supported by Shanghai Municipal Science and Technology Commission: Research on heave Motion Compensation technology of Offshore mining ship, No.19DZ1207304

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    摘要:

    采矿船是海洋资源开采中必不可少的海工装备。采矿船在海上作业时,船体受海浪载荷作用所引起的升沉运动对于水面下采矿系统作业安全性有恶劣的影响,为了减少升沉运动,需要对采矿船进行升沉补偿,提出了一种基于复合液压油缸的主被动一体式复合型升沉补偿系统。为了提高控制精度,本文提出了一种基于Mamdani型的模糊PID主动式补偿控制策略来减小升沉干扰下的补偿误差,首先对升沉补偿原理进行介绍,随后基于莫尔经验公式推导出不同海况下船体升沉幅值的计算过程,并建立所提升沉补偿系统的数学模型和传递函数,最后用所提的模糊控制算法进行控制,在规则海浪波和不规则海浪波下分别进行仿真,并和传统PID控制效果进行比较,结果表明,两种海浪波下,模糊控制算法的误差要小于传统PID控制算法的误差,可见模糊控制算法有着明显的优势。

    Abstract:

    Mining ship is an essential Marine equipment in the exploitation of Marine resources. In order to reduce the heave motion, it is necessary to compensate the mining ship for heave compensation. A composite active and passive integrated heave compensation system based on composite hydraulic cylinder is proposed. In order to improve the control accuracy, an active compensation control strategy based on Mamdani fuzzy PID is proposed to reduce the compensation error under heave interference. Firstly, the heave compensation principle was introduced, and the calculation process of ship"s heave amplitude under different sea conditions was deduced based on Mohr"s empirical formula, then the promotion heavy compensation mathematic model and transfer function of the system were established, finally the proposed fuzzy control algorithm was used to control the system under the regular ocean wave and irregular wave and compare with the traditional PID control effect. The results show that under the two kinds of ocean wave, the error of the fuzzy control algorithm is less than the error of the traditional PID control algorithm, It can be seen that fuzzy control algorithm has obvious advantages.

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滕媛媛,陈林恺,孙友刚,等. 基于模糊逻辑系统的采矿船升沉补偿控制方法研究[J]. 科学技术与工程, , ():

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  • 收稿日期:2021-11-23
  • 最后修改日期:2022-04-15
  • 录用日期:2022-04-24
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