半主动升沉补偿系统的预测控制与联合仿真分析

Predictive Control and Co-simulation Analysis of Semi-active Heave Compensation System

针对半主动升沉补偿系统响应滞后和非线性时变的特点,提出半主动升沉补偿系统的预测控制与联合仿真分析。以PSO-BiLSTM模型预测的船舶升沉位移作为控制信号输入,Terminal滑模控制器控制复合液压缸,补偿负载因船舶运动产生的升沉位移。建立AMESim-Simulink联合仿真系统,对比有无预测模型下的3种控制补偿性能,验证了采用PSO-BiLSTM预测算法的Terminal滑模控制半主动升沉补偿系统效果良好,补偿率可达95.63%,比PID控制和普通滑模控制分别提高11.07%和5.51%。仿真结果表明,精确的预测数据作为控制输入,可以有效地缩短响应时滞,提高位移补偿精度。

The predictive control and co-simulation analysis of semi-active heave compensation system were proposed for the characteristics of response lag and nonlinear time-varying.The ship heave displacement predicted by the PSO-BiLSTM model was used as the control signal input,and the Terminal sliding mode controller controlled the composite hydraulic cylinder to compensate the load heave displacement caused by the ship movement.The AMESim-Simulink co-simulation system was established,and three kinds of control compensation performance were compared with or without the prediction model.It was verified that the Terminal sliding mode control semi-active heave compensation system using the PSO BiLSTM prediction algorithm has a good effect,and the compensation rate can reach 95.63%.It is 11.07%higher than PID control and 5.51%higher than ordinary sliding mode control.The simulation results showed that the accurate prediction data as the control input can effectively shorten the response delay and improve the precision of displacement compensation.