采用液压驱动的主动升沉补偿模型控制研究

Research on Active Heaving Compensation Model Control Using Hydraulic Drive

当前,船舶在海面上生产时,容易受到海水激励波形的干扰,导致船舶运动上下波动,不能很好地满足海底探测任务。对此,创建了船舶液压升沉主动补偿系统简图模型,给出了液压升沉补偿的工作过程,分析了PID控制器和模型预测控制器,设计了液压升沉主动补偿系统并联控制器。设定期望运动轨迹,采用MATLAB软件对船舶运动轨迹跟踪误差进行仿真,分别与改进前两种控制方法输出误差对比。结果显示:随着缆绳长度的增加,控制系统响应时间就会延长,补偿精度也会降低,但是并联控制器跟踪误差始终优于PID控制器和模型预测控制器,克服了传统控制系统响应的滞后性。采用并联控制器,能够自适应调节液压升沉主动补偿系统,降低海水波形对船舶运动的影响,提高船舶在海面行驶的稳定性和安全性,更好的满足海底探测任务。

At present,when ships are produced on the sea,they are vulnerable to the interference of sea water excitation wave⁃form,which causes the fluctuation of ship motion and can not satisfy the seabed detection task well.In view of this,a sketch mod⁃el of the active compensation system for ship hydraulic heave is established,the working process of the hydraulic heave compensa⁃tion is given,the PID controller and the model predictive controller are analyzed,and the parallel controller of the active compen⁃sation system for hydraulic heave is designed.The expected trajectory is set,and the tracking error of ship trajectory is simulated by using MATLAB software,which is compared with the output error of the two improved control methods.The results show that with the increase of cable length,the response time of the control system will be prolonged and the compensation accuracy will be reduced,but the tracking error of the parallel controller is always better than that of the PID controller and the model predictive controller,which overcomes the lag of the response of the traditional control system.The parallel controller can adjust the hydrau⁃lic heave active compensation system adaptively,reduce the influence of seawater waveform on ship motion,improve the stability and safety of ship on the sea surface,and better meet the seabed detection task.