海上浮吊平台作业的波浪补偿系统的仿真与研究

发布时间：2018-04-27 00:07

本文选题：海上施工 + 浮吊　；参考：《中国工程机械学报》2016年03期

【摘要】：浮吊在海上施工建设时,波浪的起伏会造成下降中的重物与突然上升的施工或补给对象的碰撞,导致重大安全事故的发生.为了抑制波浪对浮吊海上作业的动态影响,提高作业效率,提出一种基于在线遗传算法整定PID(Proportional-Integral-Darivative)控制器的主动式波浪补偿系统;在设计系统的基础上,采用ADAMS、AMESim和MATLAB联合仿真平台,对本方案的波浪补偿系统的控制效果进行仿真与研究.最后在物理样机中对该系统的控制策略的有效性进行试验验证.仿真和试验结果表明:该补偿系统能使吊运载荷的相对运动和波浪作用下船体的运动在升沉方向解耦,并且本文提出的控制器具有较高的鲁棒性和稳定性,能根据海况的变化及时调整控制参数,控制效果令人满意.
[Abstract]:During the construction of floating crane on the sea, the fluctuation of wave will cause the collision between the falling heavy object and the suddenly rising construction or resupply object, which will lead to the occurrence of major safety accident. In order to restrain the dynamic effect of wave on floating crane operation and improve the efficiency of operation, an active wave compensation system based on on-line genetic algorithm tuning PID-Proportional-Integral-Darivative-based controller is proposed, and based on the design system, an ADAMS AMESim and MATLAB joint simulation platform is adopted. The control effect of the wave compensation system is simulated and studied. Finally, the effectiveness of the control strategy is tested in the physical prototype. The simulation and experimental results show that the compensation system can decouple the ship motion in the heave direction under the relative motion of hoisting load and the wave action, and the controller presented in this paper has high robustness and stability. The control parameters can be adjusted in time according to the changes of sea conditions, and the control effect is satisfactory.
【作者单位】：同济大学机械与能源工程学院;
【基金】：国家科技支撑计划项目(2013BAG19B00-01) “十二五”国家科技支撑计划项目(2011BAJ02B00)
【分类号】：P752

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