250t船尾液压工作平台升降的同步控制方法  

Synchronization control method for 250-ton hydraulic work platform for assembling rudder and propeller

作　　者：张轲[1] 金鑫[1] 涂宝新 吴毅雄[1] 石忠贤[1] 

机构地区：[1]上海交通大学,上海200030 [2]上海沪东中华造船集团有限公司,上海200129

出　　处：《船舶工程》2008年第3期37-40,共4页Ship Engineering

摘　　要：提出了一种用于船尾液压工作平台升降的同步控制方法.采用拉绳式位移编码器配合比例伺服阀的闭环控制方案实现油缸位移的精确控制;为实现液压多缸的同步升降,提出了基于Master/Slave主/从同步控制策略;而对于四个主顶升油缸各自单缸的闭环则采用带死区的PID控制算法来实现;针对负载不均及液压油的渗漏,建立了基于模糊推理的自适应PID控制参数在线自整定算法.实际运行表明:系统的同步控制精度可以始终控制在±3mm以内,系统的动态品质好,鲁棒性强,对于负载的变化和不均匀性表现出较强的自适应性和稳定性.A synchronization control method for hydraulic work platform for assembling rudder and propeller is proposed m the paper. Firstly, a closed-loop control system based on a linear wire encoder combined with a proportional servo valve is established for hydraulic-cylinder displacement fine control, and to implement Synchronous movements off our hydraulic-cylinder for the working platform, a control strategy based on master/slave synchronization is presented, and then a PID control algorithm with dead-zone regulator is applied for every hydraulic-cylinder, at last, to solve the problem that the tracing accuracy will be affected owing to the load of asymmetry of distribution for the rudder or propeller or the leakage of hydraulic liquid, an adaptive algorithm for tuning and optimization of PID parameters based on fuzzy control is described in detail. The experiment results show that the proposed controller has high synchro-control accuracy （within ±3mm）, and excellent Dynamic characteristic and robustness for variation and asymmetry in load.

关 键 词：船舶 桨舵安装车 主/从同步控制 模糊PID控制 拉绳式编码器 

分 类 号：U664.69[交通运输工程—船舶及航道工程]