海底静力触探贯入速度的前馈补偿控制  

Research on control of thrust speed of offshore CPT by feed-forward compensation

作　　者：陈奇[1] 徐行[1] 吴衡[1] 于彦江[1] 万芃[1] 

机构地区：[1]国土资源部广州海洋地质调查局,广州510760

出　　处：《高技术通讯》2010年第12期1297-1302,共6页Chinese High Technology Letters

基　　金：863计划(2001AA602024);广州海洋地质调查局局控课题(GZJK200606)资助项目

摘　　要：针对海底静力触探(CPT)贯入速度控制目标为2cm/s±10%的技术要求,建立了贯入速度的仿真控制模型,并以地层阻力的抽象仿真模型为干扰激励源对海底CPT系统进行了仿真分析;针对仿真中传统PID控制策略无法消除大幅值斜坡干扰所导致的静态误差的分析结果,利用CPT测试的本质即是采集地层阻力这一特点,提出了将CPT所采集的锥尖阻力和侧壁摩擦力的合力作为前馈控制的输入量的前馈补偿控制方案,仿真分析与现场试验均证明此方案达到了预期的控制目标,保证了2008年9月在南海万山群岛海域开展海底数据采集的顺利有效进行。Aiming at the technical requirement of the thrust speed of （2cm/s±10% ） when offshore performing the cone penetration testing （ CPT）, the paper sets up the simulation control model of thrust speed, and realizes the CPF system simulation based on the abstract simulation model of resistance disturbance sources. As the simulation result shows that the traditional PID control strategy could not eliminate the steady state error caused by large amplitude ramp disturbance, the paper makes use of the nature characteristic that CPT is collect stratum resistance, and brings forward a feed-forward compensation control method, which uses the resultant force of the cone tip resistance and the sleeve friction as the input parameter. The simulation analysis and field tests proved that the method achieved the desired control target, and so guaranteed the seabed data collection smoothly and effectively in the Wanshan waters of the South China Sea in September 2008.

关 键 词：海底静力触探(CPT) 贯入速度 仿真模型 前馈补偿 

分 类 号：P716[天文地球—海洋科学]