大型探矿船四锚定位控制系统的研究

发布时间：2018-04-10 07:51

本文选题：探矿船　切入点：四锚定位　出处：《浙江海洋学院》2015年硕士论文

【摘要】：传统锚泊定位存在精度差、自动化程度低、锚泊周期短、人力劳动强度大等缺点,而基于电液控制的四锚定位系统解决了传统锚泊的缺点。从采矿船定位系统的经济性、高效性角度出发,提出基于电液比例控制的锚泊定位系统新方案——四锚定位。以浅海钻探类采矿船的锚泊定位系统为背景,在采矿船的锚泊定位系统上,引入了电液控制系统控制锚机的收放,再配合DGPS控制系统对采矿船实施监控,实现程控定位和程控移位。为满足电液控制系统的位置误差及动态响应的要求,应用液压仿真软件AMESim建立锚泊控制系统的物理模型,在Matlab/Simulink中建立控制系统的PID模型,通过AMESim/Simulink的联合仿真模型,证明了基于电液控制的四锚定位系统既保证了探矿船定位精度的要求,又提高了定位效率。通过AMESim软件完成了电液控制液压锚机的系统搭建,借助AMESim软件强大的机械/液压建模与仿真能力与Matlab/Simulink强大的数值计算能力,充分利用这两个软件的优势,结合PID闭环控制。仿真的对比结果表明,电液控制的锚泊定位系统能满足探矿船勘探时的定位需求,通过闭环比例控制能实现控制系统的稳定性、快速性以及精确性。大大减少了人工劳动强度与定位效率,实现了锚泊定位的自动化、智能化,为进一步提升电液比例控制系统性能、提高控制精度奠定了一定的基础。
[Abstract]:Traditional anchor positioning has some disadvantages such as poor precision, low automation, short mooring period, large manpower and labor intensity, etc. The four anchor positioning system based on electro-hydraulic control solves the shortcoming of traditional anchor.From the point of view of economy and high efficiency of mining ship positioning system, a new scheme of mooring positioning system based on electro-hydraulic proportional control (EHPC)-four anchors positioning system is proposed.Based on the anchor positioning system of shallow water drilling mining ship, the electro-hydraulic control system is introduced to control the retracement and release of the anchor machine, and then the DGPS control system is used to monitor the mining ship.Program-controlled positioning and program-controlled displacement are realized.In order to meet the requirements of the position error and dynamic response of the electro-hydraulic control system, the physical model of the mooring control system is established by using the hydraulic simulation software AMESim, the PID model of the control system is established in Matlab/Simulink, and the joint simulation model of AMESim/Simulink is established.It is proved that the four-anchor positioning system based on electro-hydraulic control not only ensures the positioning accuracy of the prospecting ship, but also improves the positioning efficiency.The system of electro-hydraulic control hydraulic anchor is built by AMESim software. With the help of the powerful mechanical / hydraulic modeling and simulation ability of AMESim software and the powerful numerical calculation ability of Matlab/Simulink, the advantages of these two software are fully utilized and combined with PID closed-loop control.The simulation results show that the electro-hydraulic mooring positioning system can meet the positioning requirements of prospecting ship, and the stability, rapidity and accuracy of the control system can be realized by closed-loop proportional control.It greatly reduces the labor intensity and positioning efficiency, realizes the automation and intelligence of anchor positioning, and lays a certain foundation for further improving the performance of electro-hydraulic proportional control system and improving the control precision.
【学位授予单位】：浙江海洋学院
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U664.82

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