基于末端补偿和运行仿真的起重船机械控制技术研究  

Design of mechanical control technology for crane ships based on end effector compensation and operation simulation

作　　者：周武红 ZHOU Wuhong(Navigation College,Anhui communication Vocational and Technical College,Hefei 230051,China)

机构地区：[1]安徽交通职业技术学院航海系,合肥230051

出　　处：《延边大学学报（自然科学版）》2024年第3期81-86,共6页Journal of Yanbian University（Natural Science Edition）

基　　金：安徽省质量工程项目(2022zygzsj021)。

摘　　要：根据海浪的不规则波动,设计了一个船舶运动的模拟平台,并提出了一种基于末端补偿的控制策略.该策略利用前馈补偿调节控制器调整电动缸参数.基于此,建立了平台的全局坐标系,并对该控制策略进行了模拟仿真实验.研究表明:该策略能够有效地缓解起重船末端存在的摆动问题.研究结果对海上吊运和转配等作业具有参考价值.To solve the problem of irregular oscillation at the end of a crane ship during operation,a simulation platform for ship motion was designed based on the irregular fluctuations of waves,and a control strategy based on end compensation was proposed.This strategy utilizes a feedforward compensation controller to adjust the parameters of the electric cylinder,thereby establishing the global coordinate system of the platform.The simulation experiment shows that it can effectively alleviate the swinging problem at the end of the crane ship,and has good reference value for offshore lifting and transfer operations.

关 键 词：起重船 末端补偿 运行仿真 机械控制 自动化 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]