【摘要】 针对深海采矿升沉补偿系统的作业过程受海洋环境和自身工作原理的影响,具有复杂性、随机性等特点,采用自调整模糊控制方法,通过可调整因子α和β自寻优,改变量化因子Ke,Kec和比例因子Ku对控制性能的影响,使升沉补偿系统具有最优的动态性能,从而实现升沉平台和扬矿管系统纵向大幅振动的最佳控制。综合运用控制软件MATLAB和虚拟样机软件ADAMS,建立升沉补偿系统的振动控制仿真模型,进行不同海况下的仿真分析。研究结果表明,应用自调整模糊控制器的升沉补偿系统能更好地抑制振动,降低振动的强度,降低幅度达75%~85%,在调整时间、控制效果及适应性等方面的性能均优于常规模糊控制器的性能,完全符合升沉补偿系统的设计要求。更多还原

【Abstract】 Based on the fact that the heave compensation system of deep-sea mining was characteristic of complexity and randomicity under the influence of ocean environment and working principle itself,a method of self-adjustable fuzzy control was presented.Self-optimizing the adjustable factor α and β,the quantifying factor of K_e,K_ec and the scaling factor of K_u could alter the influence on the control performance and make the heave compensation system the best dynamic performance.The optimization control of great axial vibration of the move platform and the lifting pipe was realized.The control software MATLAB and the virtual prototype software ADAMS were used synthetically to build a simulating model of heave compensation system and simulate in various marine environment.The results show that the heave compensation system with self- adjustable fuzzy controller can restrain the vibration and decrease the intensity effectively,and the amplitude is reduced by 75%85%.The self-adjustable fuzzy controller is superior to the general fuzzy controller in the adjusting time,and the effect of control and adaptability,which accords with the design demand of the heave compensation system completely.更多还原