船舶靠帮补给装置的补偿机构设计与控制方法  

Design and Control Method of the Wave Compensation Mechanism of Ship’s Relief Supply Device

作　　者：谷肖 徐江敏[1] 刘志强[1] 郭世建 王佳 吴华强 GU Xiao;XU Jiangmin;LIU Zhiqiang;GUO Shijian;WANG Jia;WU Huaqiang(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,Jiangsu,China;Shanghai Marine Equipment Research Institute,Shanghai 200031,China)

机构地区：[1]江苏科技大学机械工程学院,江苏镇江212003 [2]上海船舶设备研究所,上海200031

出　　处：《船舶工程》2021年第11期133-138,共6页Ship Engineering

基　　金：国家重点研发计划资助项目(2018YFC0309100)。

摘　　要：针对当前的海上舰船补给装置存在的不足,设计一种由串联式起重臂与并联式波浪补偿机构组合的混联式靠帮补给装置,实现目标船的位姿补偿。对整个装置的核心部分(即并联式波浪补偿机构)进行结构尺寸分析;为获得精准的运动控制,采用性能优越的液压驱动方式,并针对液压驱动设计液压伺服系统。在Sim Mechanics中建立补偿机构的机械结构,输入期望位姿,分别使用常规PID控制器和模糊PID控制器进行运动控制。通过对比常规PID控制与模糊PID控制发现,模糊PID控制能得到更高的控制精度。Aiming at the shortage of the current ship replenishment device,a hybrid tandem replenishment device composed of a series jib and parallel wave compensation mechanism is designed to realize the compensation of the posture of the ship to be supplied.The structure and size of the parallel wave compensation mechanism of the core part of the whole device are analyzed.In order to obtain precise motion control,a hydraulic drive method with superior performance is used,and a hydraulic servo system is designed for the hydraulic drive.Establish the mechanical structure of the compensation mechanism in SimMechanics,input the desired posture and use the conventional PID controller and fuzzy PID controller for motion control respectively.By comparing the conventional PID control and fuzzy PID control,it is found that the fuzzy PID control can get higher control.

关 键 词：混联装置 波浪补偿 液压伺服系统 模糊PID控制 

分 类 号：TH112[机械工程—机械设计及理论]