基于增量模型切换和反步控制法的船舶主动升沉补偿策略

Ship active heave compensation strategy based on incremental model switching and backstepping control method

由于海上波浪的升沉运动造成浮式起重船剧烈摇晃,导致海上风电设备在运输安装时的失准甚至碰撞损坏,为此本文提出基于增量模型切换和反步控制法的船舶主动升沉补偿策略。采用阶跃位置响应的实验建模方法,建立电缸主动升沉补偿系统模型;针对电缸主动升沉补偿系统时延的时变问题,提出补偿控制时的增量模型切换策略,并采用反步控制方法驱动电缸补偿浮式起重船的升沉运动,以此保证风电设备运输安装时的稳定性和精准性。试验结果表明,此策略较单模型补偿控制精度提高了50%,能有效保证风电设备安装时的精准性。

The violent shaking of the floating crane ship is caused by the heave movement of sea waves. And during offshore wind turbine transportation and installation, it can lead to the misalignment and even collision damage. So this paper proposes a ship active heave compensation strategy, based on incremental model switching and backstepping control method. According to the platform of electric cylinder active heave compensation system, the experimental modeling method of step position response is adopted to establish the system model. To solve the time-varying problem of time delay, an incremental model switching strategy for compensation control is proposed. Then the backstepping control method is used to drive the electric cylinder to compensate the heave movement of the floating crane ship. so as to ensure the stability and accuracy of wind power equipment during transportation and installation. In the electric cylinder platform experiments, compared to the single model compensation method, the compensation accuracy of this strategy is improved 50%, which can effectively satisfy the accuracy of wind power equipment installation.