基于PDF控制的恒张力绞车控制系统设计与仿真

Design and Simulation for Constant Tension Winch Control System Based on PDF Control

恒张力控制技术是海洋浮标施放回收工程中关键技术之一。以恒张力绞车作为研究对象,制定系统总体方案,结合PDF控制(伪微分控制)算法设计恒张力绞车液压控制系统。建立PDF控制器的数学模型,并计算出相应的PDF控制器参数,运用Sumlink建模并仿真。结果表明PDF控制算法具有良好的动态响应特征及鲁棒性,满足恒张力绞车控制要求,为恒张力控制技术的进一步研究发展提供重要参考。

The constant tension control technology is one of the key technologies of ocean buoys cast recovery project. With constant tension winch as the research object, combined with the PDF control algorithm to design constant tension winch hydraulic control system, the overall system scheme is formulated. The mathematical model of PDF controller is established, and the corresponding PDF controller parameters are calculated. Using Simulink for modeling and simulation, the results show that the PDF control algorithm has good dynamic re- sponse characteristics and robustness, meets the requirements of constant tension winch control and provides a reference for further research and development of the constant tension control technology.