波浪运动补偿平台的自适应预报控制模型研究  

Research for Adaptive Predictive Control Model of Wave Motion Compensating Platform

作　　者：曾智刚[1,2] 魏栋[2] 叶家玮[2] 陈远明[2] 

机构地区：[1]广东技术师范学院自动化学院,广州510665 [2]华南理工大学土木与交通学院,广州510640

出　　处：《淮阴师范学院学报（自然科学版）》2009年第2期139-143,共5页Journal of Huaiyin Teachers College;Natural Science Edition

基　　金：广东省自然科学基金资助项目(7035774)

摘　　要：具有广义升沉运动补偿功能的波浪运动补偿平台可以减少船舶运动对海上作业和设备的影响.该平台系统的液压机构具有非线性和大惯性的特点.为了有效地进行广义升沉运动补偿,本文采用基于等维新息的自适应自回归多步预报算法和非线性PID控制器相结合的控制策略对波浪运动补偿平台液压机构进行控制.益参数随误差变化的非线性PID控制器具有较好的适应性、抗干扰性和鲁棒性,适合波浪运动补偿平台液压机构的控制特点,可以提高控制效果.结合实验获得的船舶甲板控制点的广义升沉位移数据,仿真试验结果表明:采用上述的自适应预报控制策略对波浪运动补偿平台液压机构进行控制能有效地减少平台的广义升沉运动幅值.A wave motion compensating platform has the function of compensating the ship＇s generalized heave motion. It can decrease the impact of ship motion on some sea works and equipments. The hydraulic mechanism of platform system has the characteristics of nonlinear and big inertia. In order to compensate generalized heave motion effectively, an adaptive predictive control policy is used for controlling the hydraulic mechanism. For the short regulate time, strong anti-disturbance ability and great robustness, a nonlinear PID controller whose gain parameters vary with errors is suitable for controlling the hydraulic mechanism. Using the collected experimental data, the simulations suggest that adopting the above adaptive predictive control policy to control hydraulic mechanism is able to decrease the generalized heave amplitude of wave motion compensating platform.

关 键 词：波浪运动补偿平台 等维新息 在线多步预报 非线性PID控制器 

分 类 号：U661.1[交通运输工程—船舶及航道工程]