船舶吊运机械臂海浪环境下的运动补偿控制与模拟  

Motion compensation control and simulation of ship crane arm in sea wave environment

作　　者：李坤 任丽 LI Kun;REN Li(Anhui Wenda University of Information Engineering,College of Intelligent Manufacturing,Hefei 231201,China)

机构地区：[1]安徽文达信息工程学院智能制造学院,安徽合肥231201

出　　处：《舰船科学技术》2023年第7期66-69,共4页Ship Science and Technology

基　　金：安徽文达信息工程学院校级科研重点项目(XZR2022A06)。

摘　　要：海洋工程领域的货物转运、吊装过程必须要考虑海浪对吊装过程的影响,主要是指海浪对船舶造成的各类摇摆、侧倾等运动,这些附加运动速度和加速度会降低货物吊运过程的稳定性,产生安全隐患。本文研究利用多自由度平台运动进行海浪影响的补偿,一方面分析船舶吊运过程的船体-机械臂运动特性,另一方面结合PID控制器进行运动补偿系统的设计,并搭建测试平台进行机械臂干扰环境下的鲁棒性测试。In the process of cargo transport and lifting in the field of ocean engineering,the influence of sea waves on the process of lifting must be considered,which mainly refers to all kinds of swaying,rolling and other motions caused by sea waves on the ship.These additional motion speed and acceleration will reduce the stability of the cargo lifting process,resulting in safety risks.The research direction of this paper is to use the motion of the platform with multiple degrees of freedom to compensate the influence of sea waves.On the one hand,the motion characteristics of the hull-robot arm in the process of ship lifting are analyzed.On the other hand,the motion compensation system is designed with PID controller,and the test platform is built to test the robustness of the robot arm in the interference environment.

关 键 词：吊运机械臂 运动补偿 PID 运动特性 鲁棒性测试 

分 类 号：U657.58[交通运输工程—港口、海岸及近海工程]