跟随控制在输油臂控制系统中的应用

Application of Tracking Control in Loading Arm Control System

现有输油臂的操作控制方式很难实现油管接头的快速准确对接。根据输油臂驱动控制的特点,探讨了在其原控制系统内增加跟随控制器的方法,并给出了跟随控制的算法。实际使用中,跟随器的手柄安放在油轮管道接头处,通过跟随控制,即可使输油臂尾端油管接头快速准确地与油轮管道接头自动对接。

It is difficult for loading arm control system to make the tube joints docked rapidly and accurately. According to the characteristics of loading arm drive control, the paper explores the way of adding tracking controller in its original control system and gives the algorithm of tracking control. In actual application, with installing the tracking handle in the ship＇s oil pipe joint, we can make the tube joint of the loading arm docked rapidly and accurately with the ship＇s oil pipe joint through the tracking control.