基于卡尔曼滤波的主动波浪补偿系统研究  

Active wave compensation system based on Kalman filter to grind

作　　者：解迎刚[1,2] 王晓[3] 曾佳佳[1] 侯金梦 

机构地区：[1]北京信息科技大学信息与通信工程学院,北京100101 [2]高动态导航技术北京市重点实验室,北京100101 [3]北京科技大学计算机与通信工程学院,北京100083

出　　处：《计算机工程与应用》2015年第21期36-40,共5页Computer Engineering and Applications

基　　金：北京信息科技大学学校科研基金项目(No.1525008);高动态导航技术北京市重点实验室开放课题(No.HDN2015005);国家自然科学基金(No.61261160497);北京市科技计划课题(No.Z131100005313009)

摘　　要：针对船舶随涌浪进行的升沉运动进行较为深入的研究,旨在采用主动式波浪补偿解决耙吸式疏浚船耙管终端水平高度稳定问题。建立波浪补偿预测系统,通过运动参考单元测量船舶运动竖直方向速度和加速度,主控制单元根据所建立的数学模型结合卡尔曼滤波算法处理数据,通过执行机构调整绳索收放速度完成耙管终端控制补偿,使耙头水平高度在工作过程中保持稳定。所建立的波浪补偿预测系统具有自主学习能力,可以不断运用实测数据自我修正以提高精度,具有很高的实用价值。This paper conducts a more in-depth examine for the heave motion of the vessel and active heave compensation with the surge. It is intended to solve the trailing suction hopper dredgers rake tube terminal level height stability. It estab-lishes compensation wave forecasting system, through the movement of ship motion reference unit measuring the vertical velocity and acceleration. The main control unit is combined with Kalman filter algorithm to process data in accordance with the mathematical model established. It adjusts the speed of the rope through the implementing agencies to complete the retractable rake tube terminal control compensation, so that the level of the rake head remains stable during operation. Wave compensation prediction system established with independent learning ability, can use the measured data to improve the accuracy of self-correction, therefore with high practical value.

关 键 词：主动式波浪补偿 卡尔曼滤波 波浪补偿预测系统 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]