深海采矿升沉补偿系统建模及其模糊控制仿真  

Modeling of heave compensation system for deep-ocean mining and its simulation of fuzzy logical control

作　　者：汤晓燕[1] 刘少军[1] 王刚[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083

出　　处：《中南大学学报（自然科学版）》2008年第1期128-134,共7页Journal of Central South University:Science and Technology

基　　金：国家"十五"深海技术发展专项基金资助项目(DY105-3-2-2);国家自然科学基金资助项目(50675226)

摘　　要：根据中国大洋协会(COMRA)拟定的1 000 m大洋多金属结核中试采矿系统中升沉补偿子系统设计方案及1 km海试的状况,应用牛顿第二运动定律和MATLAB软件,创建了该系统的数学模型,对该数学模型进行模糊控制仿真研究。仿真结果表明:1 km海试总体设计中提出的双油缸主动控制升沉补偿系统可适应海试要求,在4级海况条件下,对系统实施模糊逻辑控制能得到满意的控制效果。但在复杂海况条件下,随着外扰频率逐渐增加,系统的升沉补偿效果会不断下降,当外扰频率大于0.7 Hz时,主动式模糊控制几乎无减振效果。因此,建议在0～0.7 Hz范围内采用主动式模糊控制,而在外扰频率大于0.7 Hz范围内实施被动式升沉补偿。According to the design scheme of a heave compensation subsystem proposed by the COMRA （China Ocean Mineral Resources ＆ Association） 1 000 m deep ocean poly-metallic nodule pilot mining system and the wave conditions of sea region of 1 km sea trial, a corresponding mathematics model of this system was built by using the Newton＇s law and MATLAB software. The simulation study of a fuzzy control based on this model was conducted. The results show that this proposed active heave compensation system with two lift cylinders is suitable for 1 km sea trial. The satisfactory control effectiveness can be obtained in the simulation on the condition of sea state 4. However, the heave compensation effectiveness declines gradually with the increase of outside disturbance frequency. When the frequency is larger than 0.7 Hz, there is scarcely any vibration damping effect in this active fuzzy control. Hence the improvement suggestion is proposed that an active fuzzy control should be used within the frequency of 0-0.7 Hz, while a passive heave compensation should be used if the frequency is larger than 0.7 Hz.

关 键 词：建模 升沉补偿 模糊控制 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]