H∞回路整形在减摇水舱摇摆台中的应用  

Application of H∞ Loop Shaping in Swing Bench of Anti-rolling Tank

作　　者：张松涛[1] 孙明晓[1] 李心宁[1] 姜见龙 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《控制工程》2015年第1期85-90,共6页Control Engineering of China

基　　金：国家自然科学基金项目(61304076);哈尔滨市科技创新人才专项基金(RC2013QN009035);哈尔滨工程大学实验教学改革与实验技术研究基金项目(SYJG20130411);中央高校基本科研业务费基金项目(HEUCF041401)

摘　　要：减摇水舱摇摆台是实现位置随动控制的液压伺服系统,其功能是模拟船舶运动姿态和验证减摇水舱的性能。摇摆台运动时,在横摇和横荡2个自由度上存在着相互耦合,且水舱内流体晃荡产生很大的干扰力和力矩,导致建模时参数不确定,对系统精度造成很大影响。为此建立摇摆台耦合运动模型,运用力学理论分析并进行解耦控制,求解流体产生的干扰力和力矩,引入H∞回路整形控制策略设计控制器,最后进行仿真分析和实验验证。结果表明,系统能够准确快速跟踪动态输入的横摇和横荡位移信号,实现了对干扰的估计和补偿,提高了系统的跟踪速度和鲁棒性,更为精确地验证水舱的性能。为模拟船舶运动姿态和其他领域中同类型的液压系统控制问题提供有效的解决方法。Swing bench of anti-rolling tank is a hydraulic servo system which implements the position control. The function of this system is to simulate vessel motion attitude and to verify the performance of anti-rolling rank. When the swing bench is moving, there exists intercoupling on the two degree of freedom of rolling and swaying. Meanwhile, the fluid sloshing in the tank causes lot interference and moment which leads to the uncertainty of parameters at system modeling moment. All these unfavorable conditions mentioned above affect system accuracy greatly. Much work had been done to cope with these unfavorable conditions. Swing bench coupling motion was modeled at first, and the theory of mechanics was applied to analyze and decoupling control to solve the problem of interference and moment caused by the fluid. H∞loop shaping control strategy was introduced to design the controller, and then it was used to model and simulate. Eventually the controller was embedded into a Quanser semi-physical simulation system to perform experimental verification with overall system of swing bench. The result shows that the system is capable of tracing displacement signal of rolling and swaying accurately and quickly which is dynamic-input, implementing the evaluation and compensation to the interference and improving the tracing speed and robustness of system. All these advantages serve more precisely verification of tank performance. This research provides an effective solution for vessel motion attitude simulation and for the same type of hydraulic servo system control problem in other domains.

关 键 词：减摇水舱摇摆台 液压伺服系统 解耦控制 H∞回路整形 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]