船体分段三维测量及对位系统控制策略研究

发布时间：2018-07-26 15:18

【摘要】：随着科技的发展和造船工艺的提高,为了提高造船效率和质量,造船模式正在向总段巨型化建造工艺方向发展,这对船舶设计水平和制造精度控制等环节都提出了更高的要求。如何快速准确地测量建造过程中船体分段产品与理论模型之间的误差,以及如何提高搭载时对接分段快速对位的效率,已经成为国内外船舶与海洋工程领域研究的热点,因此研究这些问题具有非常重要的理论意义和实际应用价值。本文在掌握国内外相关问题的研究现状基础上,对这些关键问题展开了进一步的研究工作,主要研究内容包括： (1)船体分段建造过程中变形与反变形措施方面的研究。在船舶建造过程中,焊接、搁墩、吊装、移位等过程都会引起船体分段的变形,本文详细分析了引起船体变形的原因,并针对不同的变形情况提出了相应的反变形工艺措施。 (2)基于全站仪的船体分段大尺度测量方法的研究。分析了分段建造及搭载过程中船体分段大尺度三维测量方法,讨论了理论点集的选取原则,理论点集和测量点集常用匹配方法,并结合船体分段三维测量的特点,针对对应点集匹配的三点对齐法的不足,提出了基于最小二乘法选择中心点的改进三点对齐法；针对非对应点集匹配常用的迭代最近点法(ICP),提出了先采用主成份分析(PCA)进行粗匹配,再利用ICP进行精匹配的两阶段匹配方法,有效地提高了匹配精度。 (3)船体分段合拢自动化系统及控制策略的研究。针对现有的搭载方式占用吊机时间过长,并且存在安全隐患问题,设计了一种用于船体分段合拢的三维可调平台系统,该系统由多个三自由度可调墩组成,单个可调墩可实现一定范围的三维运动,当采用群墩控制时,系统可实现多自由度运动,从而实现安全、高效和高精度控制的船体分段搭载对位和合拢的建造工艺。 (4)基于多新息(Multi-innovation)理论的船体分段对位控制方法研究。船体分段合拢对接过程是一个难以建立数学模型的非线性系统,针对这一特点深入研究了可调平台控制策略问题,理论证明了基于多新息理论的无模型控制律的收敛性问题,并对控制律中的参数采用遗传算法进行在线优化；提出了基于多新息理论的PID神经网络控制算法,并证明了该方法的收敛性。最后采用多个仿真实例对所提出的两种改进算法进行验证,结果表明,改进后的两种控制算法都比原算法收敛速度快,具有更强的鲁棒性。 (5)面向造船工程实际,采用自主发明专利技术制作了三自由度可调墩样机,提出了基于开放式控制系统开发规范的可调墩控制系统的框架结构,研制开发了可调墩控制系统的软硬件平台,并在平台控制算法库中,实现了本文提出的基于多新息理论的PIDNN控制算法,实际控制效果进一步验证了方法的有效性。本文研发了具有自主知识产权的船体分段大尺度测量误差分析系统和模拟搭载系统,实现了船体分段无余量建造误差分析和模拟搭载过程分析,以及有余量测量建造误差分析和模拟搭载功能,本研究成果已应用于广新海事重工股份有限公司的多艘实船建造中,取得了较好的实际工程应用效果。
[Abstract]:With the development of science and technology and the improvement of shipbuilding technology, in order to improve the efficiency and quality of shipbuilding, the shipbuilding mode is developing to the huge construction process in the general section. This has put forward higher requirements for the level of ship design and the control of manufacturing precision. How to quickly and accurately determine the hull section product and theoretical model in the process of measuring and constructing the ship body quickly and accurately It has become a hot topic in the field of marine and marine engineering at home and abroad. Therefore, the study of these problems has very important theoretical significance and practical application value.
Based on the current research situation of related issues at home and abroad, this paper has carried out further research on these key issues.
(1) research on the deformation and anti deformation measures in the process of ship hull construction. During the process of ship construction, welding, pier, hoisting, displacement and other processes will cause the deformation of hull section. In this paper, the causes of hull deformation are analyzed in detail, and corresponding counter deformation measures are put forward for different deformation conditions.
(2) the large scale measurement method of hull section based on total station is studied. The large scale three-dimensional measurement method of hull section in the process of subsection construction and loading is analyzed. The principle of selecting the theoretical point set, the theoretical point set and the common matching method of the measurement point set are discussed, and the matching of the corresponding point set is combined with the characteristics of the three dimensional measurement of the hull section. For the deficiency of point to homogeneous method, an improved three point pair method is proposed based on the least square method to select the center point. For the common iterative nearest point method (ICP), a two phase matching method which first uses principal component analysis (PCA) and then ICP is used to match well is proposed, which effectively improves the matching precision.
(3) study on the automatic system and control strategy of hull section closure. Aiming at the long time of hoisting machine and hidden danger of safety, a three dimensional adjustable platform system is designed for hull section closure. The system is composed of multiple adjustable piers with three degrees of freedom, and a single adjustable pier can achieve a certain range of three. The multi degree of freedom movement can be realized by the control of group piers, so as to realize the construction technology of the ship body with safety, high efficiency and high precision.
(4) study on the segmented alignment control method of ship hull based on the theory of multiple interest (Multi-innovation). The section closure and docking of the hull is a nonlinear system which is difficult to establish a mathematical model. The control strategy of adjustable platform is studied in depth. The convergence of the model free control law based on the theory of multi interest is proved. A genetic algorithm is used to optimize the parameters of the control law, and the PID neural network control algorithm based on the theory of multiple interest is proposed, and the convergence of the proposed method is proved. At last, a number of simulation examples are used to verify the two improved algorithms. The results show that the improved two control algorithms are all compared to the original algorithm. The convergence speed of the method is faster, and it is more robust.
(5) facing the actual Shipbuilding Engineering, the three DOF adjustable pier prototype is made by using the proprietary invention patent technology, and the frame structure of the adjustable pier control system based on the open control system development specification is put forward. The software and hardware platform of the adjustable pier control system is developed and developed, and the base of this paper is based on the platform control algorithm library. The effectiveness of the method is further verified by the actual control effect of the PIDNN control algorithm of the multi new interest theory. In this paper, a large scale measurement error analysis system and an analog loading system with independent intellectual property rights are developed, and the analysis of the construction error analysis and the simulation of the loading process and the residual measurement are realized. The results of this study have been applied to the construction of multiple real ships in the Limited by Share Ltd of the new maritime industrial heavy industry, which has achieved good practical application results.
【学位授予单位】：大连理工大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：U671

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