抛绳救助设备控制系统设计

发布时间：2018-06-02 23:47

本文选题：抛绳救助设备 + PID控制　；参考：《大连海事大学》2017年硕士论文

【摘要】：本文对拖带救助中广泛使用的抛绳救助设备进行控制系统设计,包括对稳定平台与高压气动抛绳器的控制。稳定平台由伺服电机驱动,可在载体姿态剧烈变化时使被稳定对象相对某惯性空间始终保持水平或者某特定姿态,高压气动抛绳器可利用高压气体对救援弹体进行远距离自动抛射。针对海上救助中因船体的剧烈摇晃及海上大风造成引缆成功率低下的现状,提出在保证稳定平台控制精度的前提下,对风力因素造成的弹体横向偏移通过调节发射角度进行弥补,以保证气动抛绳器的抛射精度,进而保证救援成功率。本文在对现有三自由度稳定平台的主体结构进行分析的基础上提出了对符合课题要求的控制系统的设计思路,并对硬件电路进行设计和搭建。在俯仰、横滚方向利用陀螺仪敏感载体扰动,控制器内采用PID算法驱动框架上的伺服电机;在航向角方向由操作人员通过观察摄像仪采集的图像,驱动底座上的交流电机进行转动,使抛绳器对准目标船只。在对弹体在飞行过程中受力情况进行简化后,利用MATLAB对弹体的外弹道进行建模与仿真,得出弹体落点在受到环境因素影响后产生的横向偏移。最后,对各种环境条件时为弥补横向偏移上平台需转动的最优偏移角进行求解。最终对抛绳救助设备性能进行测试。稳定平台在载体扰动达到12°时可保持在1°范围内,弹体横向偏移的实际值与理论值误差在10%以内。
[Abstract]:In this paper, the control system of wire-throwing equipment widely used in towing rescue is designed, including the control of stable platform and high-pressure pneumatic wire-throwing device. The stable platform is driven by servo motor, which can keep the stabilized object level or a certain attitude relative to a certain inertial space when the attitude of the carrier changes dramatically. High-pressure pneumatic rope-throwing device can use high-pressure gas to carry out long-distance automatic ejection to the rescue projectile. In view of the low success rate of cable diversion caused by the violent shaking of the hull and the strong wind at sea in the rescue at sea, this paper puts forward that the control accuracy of the stable platform should be guaranteed. The lateral offset caused by wind force factor is compensated by adjusting the launching angle to ensure the ejection accuracy of the pneumatic rope thrower and the success rate of rescue. Based on the analysis of the main structure of the existing three-degree-of-freedom stable platform, this paper puts forward the design idea of the control system which meets the requirements of the subject, and designs and builds the hardware circuit. In pitch, roll direction using gyroscope sensitive carrier disturbance, the controller uses PID algorithm to drive the servo motor on the frame. Drive the AC motor on the base to turn the rope thrower at the target ship. After simplifying the force situation of the projectile during flight, the external trajectory of the projectile is modeled and simulated by MATLAB, and the lateral deviation of the falling point of the projectile is obtained after being affected by the environmental factors. Finally, the optimal angle of the platform rotation in order to make up for the lateral migration is solved under various environmental conditions. Finally, the performance of rope throwing rescue equipment is tested. The stability platform can be kept in the range of 1 掳when the carrier disturbance reaches 12 掳, and the error between the actual value and the theoretical value of the lateral migration of the projectile is less than 10%.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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