深海采矿双波浪补偿系统自适应跟踪控制

An Adaptive Tracking Control of Dual Heave Compensation System for Deep Sea Mining Device

为满足深海采矿过程中管道的快速自动对接要求,设计了一种能够同时进行布放回收和升沉补偿的双波浪液压补偿系统。基于波波夫超稳定理论,设计了上波浪补偿的自适应跟踪控制律。仿真实验结果表明,上波浪补偿系统能够在自适应跟踪控制律作用下,迅速跟踪下波浪补偿系统的升沉运动,其跟踪精度能够满足同步对接要求。

In order to meet the requirements of the quickly automatic connection of the pipes,a dual heave compensation system was designed for simultaneous launch and retrieves and heaves compensation.Based on the Popov hyper-stable theory,the strategy of adaptive tracking control for the upper heave compensation was designed.The simulating results showed that the upper heave compensation system can track the movements of the lower heave compensation system based on the designed adaptive control strategy,and the tracking precision is satisfying for synchronous connection.