主动式升沉补偿控制系统及运动预报

Active heave compensation control system and motion prediction research

针对主动式升沉补偿系统的时滞特性会造成控制效果变差甚至使系统失稳问题,考虑采用模型预测控制算法对其进行控制.并从提高系统抗干扰性角度出发,将模糊-比例积分微分(PID)控制与模型预测控制进行结合形成预测模糊PID控制,并将其与动态矩阵PID控制进行了仿真比较.最后为了进行实时的升沉补偿,采用时间序列法自回归预测模型对吊装点的运动进行了预报.仿真结果表明:预测模糊PID控制在系统存在时滞的情况下既保证了系统的稳定性又提高了系统的抗干扰性;时间序列法自回归预测模型对于极短期的运动预报具有较高的预测精度,可以满足主动式升沉补偿系统的预报要求.

integral derivative(PID) controller based on model predictive control and fuzzy PID control was designed. The proposed method was mainly focused on anti-disturbance and time-delay, which was divided into two parts. The outer velocity tracking loop was designed with model predictive control to eliminate time-delay and the inner torque control loop was arranged for attenuating disturbance via fuzzy PID control. The simulation results between predictive fuzzy PID control and dynamic matrix PID control were compared. Using time-series analysis to forecast the lifting-point heave motion, a real-time multi-step prediction algorithm based on autoregressive(AR) model was analyzed. The results show that precise tracking control and strong anti-disturbance capacity are achieved with the proposed controller. The prediction accuracy for the short-term lifting point motion forecast by the autoregressive model is high,which can satisfy the prediction requirement of the active heave compensation system.