【作者】 黄勇；

【导师】 卢道华；

【作者基本信息】 江苏科技大学 ， 机械工程（专业学位）， 2019， 硕士

【摘要】 船用吊机是在海上进行货物吊装补给的特种起重设备。在进行海洋吊装补给作业时,由于海风、海浪的作用影响,船舶会产生多个自由度的姿态运动,严重影响了正常的作业过程,对货物及人员安全构成极大威胁。因此,本文开展对主动式波浪补偿吊机控制系统关键技术的研究,对于提高波浪补偿控制性能、促进波浪补偿技术的发展具有重要意义。本文采用理论分析、计算机仿真及模拟实验的方法对主动式波浪补偿吊机控制系统进行研究,具体研究工作包括:首先,对主动式波浪补偿吊机控制系统进行分析与设计,研究波浪补偿的理论技术,分析波浪对船用吊机的影响,设计系统的控制方案与实验方案。其次,完成主动波浪补偿吊机的建模。对船舶吊机进行姿态坐标变换的运动学建模,求解吊机在位置和速度补偿模式的运动补偿量;建立整个系统的数学模型,搭建系统控制框图,为控制仿真提供理论基础。然后,研究常规PID、前馈PID和单神经元自适应性PID控制理论,并改进算法,形成了基于前馈的单神经元自适应性PID控制策略。在此基础上,搭建系统的Simulink仿真模型,分析不同控制策略下系统的控制性能。最后,设计控制系统的软硬件结构,完成船用吊机的波浪模拟实验过程。仿真与实验结果表明,本文所设计的控制方案能有效实现主动波浪补偿功能,研究的控制策略适用于本系统,改进的控制算法能有效改善控制性能。更多还原

【Abstract】 Marine crane is a kind of special hoisting equipment for cargo hoisting and replenishing at sea.In the process of ocean replenishment,due to the influence of sea wind and waves,the ship will generate attitude movement of multiple degrees of freedom,which seriously affects the normal hoisting operation and poses a great threat to the safety of goods and personnel.Therefore,the research on the key technology of the active wave-compensation crane control system in this paper is of great significance for improving the control performance of wavecompensation and promoting the development of wave-compensation technology.In this paper,theoretical analysis,computer simulation and simulation experiments are used to study the active wave compensation crane control system.The specific research work includes:Firstly,the paper analyzes and designs the control system of active wave compensation crane,studies the theory and technology of wave compensation,analyzes the influence of wave on the ship crane,and designs the control scheme and experimental scheme of the system.Secondly,the modeling of active wave compensation crane is completed.The kinematics modeling of the attitude coordinate transformation of the ship crane is carried out to solve the motion compensation amount of the crane in the mode of position and speed compensation.The mathematical model of the whole system is established,and the control block diagram of the system is built,which provides the theoretical basis for the control simulation.Then,the conventional PID,feedforward PID and single neuron adaptive PID control theory is studied,and the algorithm is improved to form a single neuron adaptive PID control strategy based on feedforward.On this basis,the Simulink simulation model of the system is built to analyze the control performance of different control strategy systems.Finally,the software and hardware structure of the control system is designed,and the wave simulation experiment process of the crane is completed.Simulation and experimental results show that the proposed control scheme can effectively realize the active wave compensation function,the studied control strategy is applicable to the system,and the improved control algorithm can effectively improve the control performance.更多还原