基于移动目标法兰的LNG卸料臂自动对接控制算法研究  

Research on automatic docking control algorithm of LNG unloading arm based on moving target flange

作　　者：刘司杰 徐大林 刘志成 LIU Sijie;XU Dalin;LIU Zhicheng(Jari Automation Co.,Ltd,Lianyungang 222006,China)

机构地区：[1]连云港杰瑞自动化有限公司,江苏连云港222006

出　　处：《指挥控制与仿真》2023年第3期57-64,共8页Command Control & Simulation

摘　　要：针对传统PID控制算法在控制LNG卸料臂这种具有很强非线性的时变系统时响应速度慢而无法适应移动目标法兰跟踪对接需求这一问题,引入模糊控制理论,分别提出和实现了不依赖于LNG卸料臂动力学模型的模糊经验控制算法和与PID控制相结合的模糊PID控制算法,并将两种智能控制算法分别应用于试验场实体LNG卸料臂中,以单个关节为试验对象,分别进行性能测试和模拟移动目标法兰的跟踪测试,试验数据表明,引入模糊控制理论设计的算法在综合响应速度上,相比传统PID控制算法有明显提升,并且在实际应用中,模糊PID控制算法因其较强的抵抗时延能力完全可以胜任移动目标法兰的对接需求。Aiming at the problem that the PID control algorithm can not meet the requirement of tracking and docking of moving flange due to its slow response speed when controlling the LNG unloading arm,which has strong nonlinearity and time-varying system,the fuzzy control theory is introduced,and the fuzzy control algorithm based on experience and the fuzzy PID control algorithm which is combined with PID control are proposed and implemented respectively,which does not depend on the dynamic model of the LNG unloading arm.The two intelligent control algorithms are respectively applied to the LNG unloading arm of the test site.Taking a single joint as the test object,the performance test and the tracking test of the simulated moving target flange are carried out.The test show that the algorithm designed by introducing the fuzzy control theory has significantly improved the comprehensive response speed compared with the PID control algorithm,and the fuzzy PID control algorithm can fully meet the docking requirements of moving target flange in practical application because of its strong resistance to time delay.

关 键 词：LNG卸料臂 移动目标法兰 模糊控制 关节控制 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]