YH25波浪补偿器的控制特性研究

发布时间：2018-05-20 07:10

本文选题：波浪补偿器 + 力伺服液压控制系统　；参考：《安徽工程大学》2013年硕士论文

【摘要】：随着海洋资源的开发和利用,人们对海洋工程装备的使用性能要求越来越高,如何提高海洋工程装备的安全性、稳定性、准确性已成为一个重要研究课题。起重机作为海洋作业中广泛使用的机械装备,那么对其快速性、准确性、精确性等控制性能方面研究显得格外重要。本课题旨在设计适用于YH25波浪补偿器的力伺服液压控制系统,建立其数学模型,通过模糊PID算法对波浪补偿器的动态控制性能进行研究,反复调试得出YH25波浪补偿控制系统的模糊PID控制技术,以提高系统的动态特性和稳态特性,减少起重机在海上工作时受波浪的影响,为新型主动波浪补偿功能起重机的控制系统研发提供参考依据。本文首先研究YH25波浪补偿器液压控制系统的各种方案,制订了该系统的整体研究方案,该系统的动力传递装置为力伺服液压控制系统。设计YH25波浪补偿器液压系统的原理图和液压系统的结构,选择液压系统中的各种液压元件,得到其力伺服液压控制系统数学仿真的相关参数。接着建立YH25波浪补偿器的力伺服液压控制系统的数学模型,并推导出其状态方程,为其能观、能控等控制性能的分析和数学模型仿真做好准备。其次提出了模糊PID控制算法,设计出模糊PID控制器,并将其用于YH25波浪补偿器的力伺服液压控制系统中。仿真结果表明：与基于工程经验得出的PID值的YH25波浪补偿器的力伺服液压控制系统相比,基于模糊PID算法的YH25波浪补偿器的力伺服液压控制系统的动态控制特性得到有效地改善,提高了系统抗干扰能力以及参数时变的鲁棒性。最后在以锅炉内胆作为被控对象的过程控制实验中,分别输入基于模糊PID算法得出的PID值和基于工程经验算法得出的PID值,实验结果表明,相对工程经验得出的PID值,基于模糊PID算法得出的PID值控制的锅炉内胆温度在外界随机信号干扰下,能较快、较稳定地控制锅炉内胆的温度,使其趋于一个期望值,满足我们所要求的结果。由此验证了所设计的模糊PID算法控制策略是准确可行的,具有普遍适用性。 YH25波浪补偿器的力伺服液压控制系统设计、数学模型仿真和验证实验完成后进行产品搭载试验,使其具有实际应用价值。通过本课题研究,设计了YH25波浪补偿器的力伺服液压控制系统,研究出了适合YH25波浪补偿器的力伺服液压控制系统的模糊PID算法,该液压系统能实现快速、准确、稳定地适应海浪作用影响下的交变载荷,运用模糊PID控制算法控制策略优化了其动态控制特性，，
[Abstract]:With the development and utilization of marine resources, more and more people require the performance of marine engineering equipment. How to improve the safety, stability and accuracy of marine engineering equipment has become an important research topic. Crane is widely used in offshore operation, so it is very important to study its control performance such as rapidity, accuracy and accuracy. The purpose of this paper is to design a force servo hydraulic control system suitable for YH25 wave compensator, to establish its mathematical model, and to study the dynamic control performance of wave compensator by fuzzy PID algorithm. The fuzzy PID control technology of YH25 wave compensation control system is obtained by debugging repeatedly in order to improve the dynamic and steady-state characteristics of the system and reduce the influence of the wave on the crane working at sea. It provides a reference for the research and development of the control system of a new type of active wave compensation crane. In this paper, various schemes of hydraulic control system of YH25 wave compensator are studied, and the overall research scheme of the system is worked out. The power transfer device of the system is a force servo hydraulic control system. The principle diagram and structure of hydraulic system of YH25 wave compensator are designed. The parameters of mathematical simulation of force servo hydraulic control system are obtained by selecting various hydraulic components in hydraulic system. Then the mathematical model of the force servo hydraulic control system of YH25 wave compensator is established, and the equation of state is deduced, which is ready for the analysis of its observable and controllable control performance and the simulation of its mathematical model. Secondly, the fuzzy PID control algorithm is proposed, and the fuzzy PID controller is designed and used in the force servo hydraulic control system of the YH25 wave compensator. The simulation results show that compared with the force servo hydraulic control system of YH25 wave compensator based on the PID value obtained from engineering experience, The dynamic control characteristics of the force servo hydraulic control system of the YH25 wave compensator based on fuzzy PID algorithm are improved effectively, and the anti-interference ability and the robustness of the time-varying parameters of the system are improved. Finally, in the process control experiment with boiler inner tank as the controlled object, the PID value based on fuzzy PID algorithm and the PID value based on engineering experience algorithm are inputted respectively. The experimental results show that the PID value is relative to the PID value obtained from engineering experience. The temperature of boiler inner tank controlled by PID value based on fuzzy PID algorithm can be controlled more quickly and stably under the interference of random signals from outside, which makes it tend to be a expected value and meet the demand of our results. It is verified that the proposed fuzzy PID algorithm control strategy is accurate and feasible. The design of force servo hydraulic control system of YH25 wave compensator, the simulation of mathematical model and the test of product loading are carried out after the completion of the experiment, which makes it have practical application value. Through the research of this subject, the force servo hydraulic control system of YH25 wave compensator is designed, and the fuzzy PID algorithm of force servo hydraulic control system suitable for YH25 wave compensator is studied. The hydraulic system can be realized quickly and accurately. The dynamic control characteristics are optimized by using fuzzy PID control algorithm, which adapts to the alternating load under the influence of ocean waves stably.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH21;P742;TP273

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