船舶自动进坞平台系统控制方案研究  

Control Scheme Research of Ship Automatic Docking Platform

作　　者：王祖温[1] 王兴如[1] 衣正尧[1] 弓永军[1] 

机构地区：[1]大连海事大学船舶机电装备研究所,辽宁大连116026

出　　处：《机床与液压》2009年第12期130-132,共3页Machine Tool & Hydraulics

基　　金：交通部基础研究项目(225030);中远船务重大项目(G2-07-0060)

摘　　要：提出了船舶自动进坞的方法,研究了一种船舶进坞大型自动平台系统,设计了自动控制进坞方案,拟定了控制系统的工作流程,并对控制模块进行了划分,取定了导标纵向对准系统和导标横向对齐系统两个控制单元,采用几何三点法将船体对准导标,实现进坞过程的分布控制,并对控制单元的具体控制方法进行了说明,给出了自动控制系统基本配置,为船舶进坞大型自动平台控制系统的选配提供了设计参考。A method of ship automatic docking was developed, which works with heavy weight of robot body and load. The automatic control scheme was designed. According to control system working process, the control module was analyzed, and the leading mark vertical alignment control system and the leading mark transverse alignment control system were divided. Combining the analysis of docking scheme, basic configuration of ship automatic docking platform was given. Result of analysis shows that the control scheme of ship automatic docking platform is reasonable.

关 键 词：船舶进坞 自动控制 纵向对准 横向对齐 

分 类 号：U675.923[交通运输工程—船舶及航道工程]