深水锚泊主动式截断试验执行机构运动前馈控制  

Feedforward control of actuator motion in the active truncation model test of the deep-water mooring system

作　　者：乔东生[1] 孙玉博 马刚[2] 汤威 闫俊[1] 欧进萍[1] QIAO Dongsheng;SUN Yubo;MA Gang;TANG Wei;YAN Jun;OU Jinping(State Key Laboratory of Coastal and Offshore Engineering,Dalian University of Technology,Dalian 116024,China;College of Shipbuilding Engineering,Harbin Engineering University 150001,China)

机构地区：[1]大连理工大学海岸和近海工程国家重点实验室,辽宁大连116024 [2]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2020年第2期199-205,共7页Journal of Harbin Engineering University

基　　金：国家重点研发计划(2016YFE0200100);国家自然科学基金项目(51979030,51979050,51490672,51761135011);中央高校基本科研业务费项目

摘　　要：为了研究深水锚泊系统主动式截断模型试验,针对驱动锚泊线截断点处的执行机构运动跟踪控制问题,选择Stewart平台作为截断点的运动执行机构,基于Matlab/Simulink建立执行机构及其驱动电机的运动模型。利用白噪声测试对驱动电机进行系统辨识,根据辨识结果设计前馈控制算法及干扰观测器。集成仿真验证前馈控制对执行机构运动跟踪的控制效果。研究结果表明:前馈控制能够提高执行机构运动的运动跟踪速度且减小50%的运动跟踪误差,为搭建锚泊系统主动式截断模型试验平台提供理论基础。To conduct the active truncation model test of the deep-water mooring system, the Stewart platform is selected as the actuator for the tracking control at the truncation point of the mooring line. First, the kinematic model of the actuator and its motor is constructed on the basis of Matlab/Simulink. Second, white noise excitation is utilized to identify the transfer function of the test motor, then the feedforward control and disturbance observer are designed on the basis of the identified model. Finally, the kinematic model and control algorithm are integrated to simulate and validate the effect of motion tracking of the Stewart platform comprehensively. The research results show that the feedforward control can improve the motion tracking speed of the actuator, and reduce the motion tracking error by 50%, providing the theoretical basis for constructing the active truncation model test platform of the mooring system.

关 键 词：主动截断 锚泊系统 执行机构 STEWART平台 运动学反解 前馈控制 干扰观测器 永磁同步电机 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]