基于增量模型切换和反步控制法的船舶主动升沉补偿策略  

Ship active heave compensation strategy based on incremental model switching and backstepping control method

作　　者：张琴[1] 张蒸忠 刘敦康 董慧芳 胡雄[1] ZHANG Qin;ZHANG Zheng-zhong;LIU Dun-kang;DONG Hui-fang;HU Xiong(Logistics Engineering College,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]上海海事大学物流工程学院,上海201306

出　　处：《舰船科学技术》2022年第18期111-115,共5页Ship Science and Technology

基　　金：国家自然科学基金资助项目(NSFC62073213);国家高技术研究发展计划资助项目(2013AA041106)。

摘　　要：由于海上波浪的升沉运动造成浮式起重船剧烈摇晃,导致海上风电设备在运输安装时的失准甚至碰撞损坏,为此本文提出基于增量模型切换和反步控制法的船舶主动升沉补偿策略。采用阶跃位置响应的实验建模方法,建立电缸主动升沉补偿系统模型;针对电缸主动升沉补偿系统时延的时变问题,提出补偿控制时的增量模型切换策略,并采用反步控制方法驱动电缸补偿浮式起重船的升沉运动,以此保证风电设备运输安装时的稳定性和精准性。试验结果表明,此策略较单模型补偿控制精度提高了50%,能有效保证风电设备安装时的精准性。The violent shaking of the floating crane ship is caused by the heave movement of sea waves. And during offshore wind turbine transportation and installation, it can lead to the misalignment and even collision damage. So this paper proposes a ship active heave compensation strategy, based on incremental model switching and backstepping control method. According to the platform of electric cylinder active heave compensation system, the experimental modeling method of step position response is adopted to establish the system model. To solve the time-varying problem of time delay, an incremental model switching strategy for compensation control is proposed. Then the backstepping control method is used to drive the electric cylinder to compensate the heave movement of the floating crane ship. so as to ensure the stability and accuracy of wind power equipment during transportation and installation. In the electric cylinder platform experiments, compared to the single model compensation method, the compensation accuracy of this strategy is improved 50%, which can effectively satisfy the accuracy of wind power equipment installation.

关 键 词：船舶升沉运动 电缸主动补偿系统 增量模型切换策略 反步法控制 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]