深海采矿升沉补偿潜式坐标定深度控制研究

【作者】 潘嘉强；

【导师】 龙建军；

【作者基本信息】 广东工业大学 ， 机电工程， 2004， 硕士

【摘要】 海洋将是本世纪人类大规模进军的目标，这是全球的共识。各国已经对深海采矿进行了大量的研究，但升沉补偿仍是深海浮式采矿尚待解决的关键技术之一。在升沉补偿时需要获取采矿船运动作为控制信号使补偿系统实现相应动作。在大洋深海环境下，难以找到合适的静止参考坐标，本文课题组的先期研究提出了用悬浮潜体作为参考坐标的方法。该方法尚有待加深研究，为此本论文在继承课题组相关研究的基础上，开展深海采矿系统潜式坐标的定深度位置控制研究。 文章首先论述了课题确立的背景和意义，介绍了国内外水下潜器的研究现状。潜器在水中通常是靠升降舵及其壳体在水中运动时产生升降力，而潜式坐标和Argo浮标则通过不断地调节密度产生恢复力，实现稳定悬浮状态。由于Argo浮标用途不同，其深度控制误差比较大，而潜式坐标则要求较高的深度位置精度，因此本项研究既具有社会意义也具有学术价值。接着本文分析潜式坐标的工作原理，并对潜式坐标进行力学分析，之后提出了其控制系统结构。在此基础上，根据潜式坐标的工作原理和要求分别介绍了潜式坐标的机械结构、电器和电子装置的主要研制工作，及简介了所开发的软件的各主要部分和功能。在完成潜式坐标的研制工作后，文章详细介绍了潜式坐标纵向位置控制器的设计、模拟试验及其分析结果。最后，文章进行了扼要的总结，同时探讨了下一步的发展方向。 本课题的研究工作得到了国家自然科学基金项目“深海采矿工程升沉补偿系统的研究”和广东省教育厅自然科学基金项目“海洋水下潜式坐标的研究”的资助，对潜式坐标进行力学分析、完成了潜式坐标模拟装置研制以及完成了具有较好效果的深度位置比例-模糊-PID控制器的设计与试验，为潜式坐标工程设计和控制打下了基础。更多还原

【Abstract】 It is a worldwide common knowledge that ocean will be the aim of human in the new century. Heave Compensation for the mining ship is still one of key objectives in technology that must be resolved in the deep sea mining, although many countries have made a great deal of research on the deep sea mining. The heave movement of mining ship must be inspected, and it is used as a signal to operate control system for heave compensation. It is difficult to find a static place in the ocean to be reference frame properly. An idea that a submersible body can be used for a suitable reference frame had been put forward in the previous research on this project. Hence, much research on this is expected to be done. After sucking up the idea, the research work on this thesis is focused on how to control a submersible body in invariable depth which is called a Submersible Reference Frame(SRF).In this thesis, firstly, the background and meaning why to do the research work are discussed and the status in quo about submersible body, home and abroad, are introduced. Usually, when submersible body running in the water, it can go up and down by the force which is produced by drop rudder and elevating rudder and by ship crust. On the other hand, SRF and Argo buoy can suspend under water by means of adjusting their volumes. When the Argo buoy is suspending under water, its depth alteration is bigger than ten meters because it is not purposed to be kept stable. However, that of SRF must be less than 10 cent-meters because it is designed to be kept stable, it makes it much clear that the research work is valuable. Secondly, principle of SRF and structure of control system are described. Thirdly, in this thesis, the hardware blocks, software blocks and mechanical structure are described. Fourthly, Digital PID controller and Proportional-Fuzzy-PID controller are designed and applied to the SRF. The latter is turned out to be better than the former. Finally, summarization of this thesis is made and the development of SRF in the future is discussed.The research is a part of the project, Research on the heave compensation system for deep sea mining system sponsored by National Natural Science Foundation of China, and a part of the project, Research on Submersible Reference Frame sponsored by Natural Science Foundation of Department of Education of Guangdong province. SRF structure research and Proportional-Fuzzy-PID controller design are finished in the research work.更多还原