水面浮动平台的扰动分析及控制系统研究

发布时间：2018-01-05 19:07

本文关键词：水面浮动平台的扰动分析及控制系统研究　出处：《南京理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着我国经济的进步,水面浮动平台广泛应用在海洋工程领域。作为一种水面漂浮基础,浮动平台需要为水上设备的定位、瞄准等工作提供相对稳定的漂浮环境。本文以小型浮动平台为研究对象,从系统的姿态稳定性出发,开展以下几方面的研究:分析浮动平台的波浪扰动作用,进行水动力特性研究。结合浮动平台的结构特点,以势流理论为基础,研究多浮体平台的波浪扰动机理,推导浮动平台的水面波浪力,建立水面浮动平台的多体动力学模型。研究平台的拓扑结构,利用水动力仿真软件计算浮动平台的水面稳定性。仿真对比不同结构下浮动平台的运动预报,分析浮囊的配置以及结构的变化对平台主体水动力性能的影响,从结构上优化浮动平台的配置,增加平台主体的水面稳定性。为后续的姿态控制工作提供理论依据。研究浮动平台的主动控制策略。分析目前已知的平台姿态的控制方法和控制策略。采用机电式二自由度的并联机构对水面浮动平台的姿态进行精确的控制。基于模糊PID算法对控制系统进行仿真分析,实现平台姿态的自主控制,为平台的负载设备提供稳定的水面工作环境。进行水面浮动平台的姿态性能测试。开展浮动平台的水动力性能测试,测量浮动平台在水面的运动轨迹,分析波浪与平台响应之间的关系;进行浮动平台的姿态控制性能测试,提高浮动平台的稳定精度,实现平台系统对外力扰动的有效抑制。
[Abstract]:With the development of our country's economy, floating platform is widely used in the field of ocean engineering. As a floating foundation, floating platform needs to locate the equipment on water. Aiming and other work provide a relatively stable floating environment. This paper takes the small floating platform as the research object, starting from the attitude stability of the system, carries out the following research: analyze the wave disturbance of the floating platform. According to the structure characteristics of floating platform and potential flow theory, the wave disturbance mechanism of multi-floating platform is studied, and the wave force on the surface of floating platform is deduced. The multi-body dynamics model of floating platform is established. The topological structure of the platform is studied. The stability of floating platform is calculated by hydrodynamic simulation software. The motion prediction of floating platform under different structures is simulated and compared. The configuration of floating capsule and the influence of structure change on the hydrodynamic performance of the platform are analyzed, and the configuration of floating platform is optimized from the structure. To increase the surface stability of the main body of the platform, to provide the theoretical basis for the subsequent attitude control work, to study the active control strategy of the floating platform, to analyze the known control methods and control strategies for the attitude of the platform, and to adopt electromechanical methods. The attitude of water surface floating platform is accurately controlled by the parallel mechanism with two degrees of freedom, and the control system is simulated and analyzed based on fuzzy PID algorithm. Realize the independent control of platform attitude, provide a stable surface working environment for the load equipment of the platform, carry out the attitude performance test of the floating platform, and carry out the hydrodynamic performance test of the floating platform. The moving track of floating platform on water surface is measured and the relationship between wave and platform response is analyzed. The attitude control performance of the floating platform is tested to improve the stability accuracy of the floating platform and to effectively suppress the external force disturbance of the platform system.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：P752

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