主动补偿平台单通道控制系统研究

Research on Single Channel Control System of Active Compensation Platform

船舶在海上作业时,需要通过稳定平台对船舶的摇摆进行补偿。稳定平台工作过程中,需要采用控制算法对各个通道进行控制。由于液压缸和电液伺服阀等机械元件惯性的影响,采用常规PID算法时,系统响应具有滞后性,降低了稳定平台的补偿精度。为此,提出一种前馈PID控制算法,该算法既具有常规PID算法简单易操作的优点,又能解决系统响应的滞后性问题。以稳定平台单通道为研究对象,采用仿真与实验相结合的方式,证明前馈PID控制算法的有效性。

When ship works at sea,the stable platform is needed to compensate the swing of ship. In the working process of the stabilized platform,control algorithm is needed to control each channel. Due to the influence of inertia about the hydraulic cylinder and the electro-hydraulic servo valve mechanical components,the system responded with a lag when using the conventional Proportion Integral Derivative（ PID） algorithm,so the compensation precision of the stabilized platform is reduced. Therefor,a feedforward PID control algorithm is proposed. The algorithm not only had the advantages of conventional PID algorithm such as easy to operate,but also could solve the problem of system response lag. Based on single channel of the stable platform as a research object,the method of the combination of simulation and experiment is adopted to prove the validity of feedforward PID control algorithm.