主动式波浪补偿起重机液压伺服系统数学建模与优化  

Mathematical Modeling and Optimization of Hydraulic Servo System in Active Heave Compensation Crane

作　　者：胡永攀[1] 陈循[1] 陶利民[1] 陈仲生[1] 董睿[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《机床与液压》2010年第9期80-84,共5页Machine Tool & Hydraulics

基　　金：国家部委资助项目

摘　　要：波浪补偿起重机在远洋作业中发挥着越来越重要的作用。针对一种新型主动式波浪补偿起重机的液压系统,首先通过理论分析建立其补偿回路数学模型;然后针对其负载大和钢丝绳传动等特点,提出通过合理选择反馈元件位置以减小钢丝绳对控制的影响、通过复合控制进行负载补偿和通过PD控制改善动态性能等优化方法;最后利用Simulink进行建模仿真,验证了上述方法的有效性。Heave compensation cranes play more and more important roles in offshore work. The mathematical model of the compensation loop of the hydraulic system in a new type of active heave compensation crane was built through theoretical analysis. Some optimizing methods, such as reducing steel wire rope＇s effect by choosing the proper place of feedback elements; compensating the load by compound control and improving dynamic performance by PD eontrol, were put forward according to the characteristics of active heave compensation crane＇s heavy load and driving with steel wire rope. The software Simulink was used to simulate and testify the effectiveness of these methods.

关 键 词：波浪补偿起重机 液压伺服系统 复合控制 PD控制 

分 类 号：TH137[机械工程—机械制造及自动化]