基于干扰观测器的波浪升沉模拟及自适应补偿策略研究

Research on wave heave simulation and adaptive compensation strategy based on disturbance observer

海洋装备的快速升级使得海上吊装应用广泛,但吊装设备易受风浪影响,导致系统控制精度降低。为提高海上吊装设备的控制精度,提出了基于干扰观测器的波浪升沉自适应反步补偿策略。以波浪升沉补偿系统为研究对象,对三级海况下的船舶升沉运动轨迹及其电液提升系统的非线性模型进行推导;利用波浪模拟平台模拟船舶的升沉运动,采用基于干扰观测器的自适应反步补偿策略对电液提升系统的非线性误差进行抑制;通过Lyapnov判据验证自适应反步补偿策略的稳定性,并通过仿真和试验对控制器性能进行验证。试验结果表明,相较于传统的PID(proportion integration differentiation,比例积分微分)控制策略,基于干扰观测器的波浪升沉自适应反步补偿策略具有更好的控制效果。对于海上吊装设备的控制系统,基于干扰观测器的自适应反步补偿策略可有效地抑制外界干扰及系统非线性干扰对控制器的影响,提高对海上吊装设备升沉运动的位置补偿精度。

The rapid upgrade of marine equipment makes the sea hoisting widely used, but the hoisting equipment is susceptible to wind and waves, which reduces the control accuracy of system. To improve the control accuracy of marine hoisting system,an adaptive backstepping compensation strategy for wave heave based on disturbance observer is proposed. Taking the wave heave compensation system as the research object, the tracks of ship heave motion and the nonlinear model of the electro-hydraulic lifting system in the third-level sea condition were deduced. Ship heave motion was simulated on wave simulation platform, and the nonlinear error of the electro-hydraulic lifting system was suppressed by an adaptive backstepping compensation strategy based on the disturbance observer. The stability of the adaptive backstepping compensation strategy was proved by Lyapunov theory, and the controller performance was verified by simulation and test. Test results showed that the adaptive backstepping compensation strategy based on the disturbance observer had higher control accuracy than the traditional PID(proportion integration differentiation) controller. Aiming at the control system of marine hoisting equipment, the influence of external disturbance and system nonlinear disturbance on the controller can be effectively restrained by the adaptive backstepping compensation strategy based on the disturbance observer, so that the position compensation accuracy of heave motion of marine hoisting equipment can be increased.