新型电动升沉补偿系统建模及联合仿真

doi:10.16182/j.issn1004731x.joss.201808019

摘要/Abstract

摘要： 针对传统大型液压式升沉补偿系统结构复杂、补偿精度差等不足,提出了一种新型的大型电动齿轮齿条式升沉补偿系统,根据其结构形式及工作原理,建立补偿系统力学-数学模型。根据升沉补偿中吊重绝对位移保持不变的控制要求,求解系统的运动方程,得到了电机输入转角与母船位移激励之间的关系。在ADAMS中建立了虚拟样机并进行动力学仿真,仿真结果验证了补偿系统及其设计参数的有效性。由于母船所受波浪的激扰信号是未知的,需引入反馈控制,在Simulink中搭建了带反馈的控制系统模型,并与ADAMS进行联合仿真,仿真结果表明：该电动升沉补偿系统通过PID控制,能有效实现升沉补偿功能,并具有补偿精度高的优点。

关键词: 升沉补偿, 动力学建模, PID控制, 联合仿真

Abstract: This paper presents a novel large electric heave compensation system with gear and rack driving mechanism, as comparison to those traditional hydraulic heave compensation systems which have complex structure and poor compensation accuracy. The mechanical-mathematical model of this compensation system is analyzed. According to the control requirement of the heave absolute displacement compensation, the relationship between the input angle of the motor and the excitation of the vessel’s displacement is obtained through the motion equation of the system. A virtual prototype is built with ADAMS, and the dynamic behaviors are simulated in accordance with its configuration and working principle. The effectiveness of the heave compensation system as well as the design parameters is verified. Because the heave signal acquired by the vessel is unknown, it is necessary to introduce the feedback control for more accurate active compensation. The feedback control system model is built with Simulink, and the co-simulation is conducted with ADAMS. The simulation result shows that this electric compensation system can well achieve heave compensation function, and has advantage of high accuracy by PID control.

Key words: heave compensation, dynamic model, PID control, co-simulation

中图分类号:

TP391.9

张氢, 夏华, 杨宁, 秦仙蓉, 孙远韬. 新型电动升沉补偿系统建模及联合仿真[J]. 系统仿真学报, 2018, 30(8): 2973-2981.

Zhang Qing, Xia Hua, Yang Ning, Qin Xianrong, Sun Yuantao. Modeling and Co-simulation of Novel Electric Heave Compensation System[J]. Journal of System Simulation, 2018, 30(8): 2973-2981.

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