摘要
工作艇收放装置主要用于完成快速、安全地将舰船上的小艇及人员移至水面,或安全回收工作艇至舰船上等海上任务。针对这一典型的欠驱动机械系统,采用拉格朗日方程的方法建立其动力学模型。根据舰船在海上的实际运动情况,对系统的二维动力学模型进行描述,分析小艇摇摆的二维平面摆角,研究其在船体运动影响下的变化情况。然后在上述非线性动力学模型的基础上,针对系统的摆动部分,为其设计自适应迭代控制闭环控制器,达到消摆的目的。最后,仿真结果证明了此控制方法的有效性。
The davit installed on the ship is mainly used for improving the security and efficiency of offshore operations during the process of folding and unfolding a working boat. Based on Lagrange equations, a dynamic model is derived for typical underactuated mechanical davit system. According to the actual movements of the ship, two-dimensional model of the system is described in detail to analyze the swing angle of the boat, which is changed with the movements of ship. Then, based on this nonlinear dynamic model, a closed-loop controller is designed to reduce swing angle and improve the working efficiency. Finally, the simulation results can verify the effectiveness of the control method.
出处
《机电设备》
2015年第3期51-57,共7页
Mechanical and Electrical Equipment
