【作者】 肖奇军；

【导师】 吴百海；

【作者基本信息】 广东工业大学 ， 机械电子工程， 2004， 硕士

【摘要】 随着陆地资源的耗竭，人们将目光投向浩瀚的海洋，水力提升式深海多金属锰结核采矿技术作为一种前沿的技术在深海采矿中得到广泛应用，在采矿过程中，由于受海洋风、浪、流、潮的影响，采矿船不可避免地在重力方向上产生显著的升沉运动。如果扬矿管和采矿船之间是刚性连接，在外载荷作用下扬矿管产生拉伸和弯曲变形，为了提高扬矿管的稳定性、可靠性和使用寿命以及整个扬矿系统的工作效率和经济性。需在扬矿管的上部与采矿船之间安装一套扬矿管升沉补偿系统，以保持深海采矿作业能正常进行。安装扬矿管升沉补偿系统的目的就是当采矿船随波浪升沉时，使扬矿管尽可能地保持静止不动，使得扬矿管的交变轴向应力和轴向变形尽可能地小。本文针对传统补偿技术的缺点，提出一种新型的主动式电液伺服补偿系统，该系统的成功研制为我国在锁定的太平洋海域的深海采矿提供技术储备。 实验系统主要由工控机、比例阀、光栅位移传感器、数据采集卡和D／A卡组成，它们是本系统实现的硬件基础。本系统采用VB作为开发工具，将它有效地和VC、MATLAB、ACCESS等软件有机结合起来，采用动态链接库和ActiveX技术开发出一套测控软件，完成实时控制、图形显示、数据保存以及数据处理等功能，该软件采用模块化结构，具有可扩展性和可修改性。系统界面简单实用、美观大方。 针对液压系统时变、非线性、数学模型不易确认的特点，提出了模糊控制的思想，该系统采用三种主要的控制策略，即模糊控制、模糊自整定PID控制和模糊PID复合控制，仿真和实验结果表明，它们均比经典PID控制具有良好的鲁棒性。在控制中显示出良好的效果。其中，模糊PID复合控制更为优越和实用。 在今后的实验中，需要研制出更加先进的智能控制算法，例如神经网络控制、专家控制等来完善系统的控制策略。将补偿精度提高到一个新的水平。同时，需要采集采矿船的在复杂海况下的实测信号作为模拟海况信号验证控制算法的鲁棒性和自适应能力。更多还原

【Abstract】 With the exhaust of the resource in mainland, people draw their attention to the expans i on sea, the hydraulie lift mining system is widely used as a new technology in the deep sea polymetallic manganese nodules mining, during the mining period, owning to the impact of the wind, wave, flow, tide, the mining ship produce the heave motion along the gravity direction inevitably. If the connection between the mining ship and lifting mining pipeline is rigid.The lifting mining pipeline will produce tension and bend distortion. In order to raise the stability , dependability, using life, efficiency and economy. We need to install a set of compensation equipment between upper of the lifting mining pipeline and the mining ship in order to maintain the normal deep sea mining process. The aim of the installation of the lifting mining pipeline heave compensation system is to maintain the quiescence of the mining ship when the lifting mining pipeline heave with the wave and minimize the changing axis stress and distortion possibly. This paper aimed at the shortcoming of traditional compensation technology and put forward a new type of an active electro-hydraulic servo compensation system. The successful develop of this system provide the technology accumulate for the deep mining in the Sea area for our country.The experiment system is composed of industry computer, proportional valve, grating displacement sensor, data acquisition card and D/A card. They are the hardware realization foundation. We apply VB as development tools and combined with VC,MIATLAB,ACCESS validly. We apply the DLL and ActiveX technology to realize the function of real-time control, graphic display, data save and data process etc.The software adopts the module construction which is expansible and revisable. The interface of the system is simple, practical and perfect.Owing to the time changing, non-linear, uncertain mathematics model of thehydraulic system. We bring forward fuzzy control idea. The system adopt three ma i n contro I method i nc I ud i ng fuzzy control, fuzzy self-adj ustment PID contro I , fuzzy PID hybrid controI. The exper i ment resu11 approve that they have good robust character compared with traditional PID control. The fuzzy PID hybrid control is superior and practical among them.During the following experiment, we are urgent to develop a type of more advanced contro I method , for examp I e , the NN contro I , expert contro I to perfect the control way of the system and elevate the compensate precision to a new standard. At the same time, we need to collect the actual signal of mining ship under the complex sea status as the simulate signal to test the robust and self-adaptive ability of the control method.更多还原