船體分段三維測量及對位系統(tǒng)控制策略研究
發(fā)布時間：2018-07-26 15:18
【摘要】：隨著科技的發(fā)展和造船工藝的提高,為了提高造船效率和質(zhì)量,造船模式正在向總段巨型化建造工藝方向發(fā)展,這對船舶設(shè)計水平和制造精度控制等環(huán)節(jié)都提出了更高的要求。如何快速準(zhǔn)確地測量建造過程中船體分段產(chǎn)品與理論模型之間的誤差,以及如何提高搭載時對接分段快速對位的效率,已經(jīng)成為國內(nèi)外船舶與海洋工程領(lǐng)域研究的熱點,因此研究這些問題具有非常重要的理論意義和實際應(yīng)用價值。 本文在掌握國內(nèi)外相關(guān)問題的研究現(xiàn)狀基礎(chǔ)上,對這些關(guān)鍵問題展開了進(jìn)一步的研究工作,主要研究內(nèi)容包括： (1)船體分段建造過程中變形與反變形措施方面的研究。在船舶建造過程中,焊接、擱墩、吊裝、移位等過程都會引起船體分段的變形,本文詳細(xì)分析了引起船體變形的原因,并針對不同的變形情況提出了相應(yīng)的反變形工藝措施。 (2)基于全站儀的船體分段大尺度測量方法的研究。分析了分段建造及搭載過程中船體分段大尺度三維測量方法,討論了理論點集的選取原則,理論點集和測量點集常用匹配方法,并結(jié)合船體分段三維測量的特點,針對對應(yīng)點集匹配的三點對齊法的不足,提出了基于最小二乘法選擇中心點的改進(jìn)三點對齊法；針對非對應(yīng)點集匹配常用的迭代最近點法(ICP),提出了先采用主成份分析(PCA)進(jìn)行粗匹配,再利用ICP進(jìn)行精匹配的兩階段匹配方法,有效地提高了匹配精度。 (3)船體分段合攏自動化系統(tǒng)及控制策略的研究。針對現(xiàn)有的搭載方式占用吊機(jī)時間過長,并且存在安全隱患問題,設(shè)計了一種用于船體分段合攏的三維可調(diào)平臺系統(tǒng),該系統(tǒng)由多個三自由度可調(diào)墩組成,單個可調(diào)墩可實現(xiàn)一定范圍的三維運動,當(dāng)采用群墩控制時,系統(tǒng)可實現(xiàn)多自由度運動,從而實現(xiàn)安全、高效和高精度控制的船體分段搭載對位和合攏的建造工藝。 (4)基于多新息(Multi-innovation)理論的船體分段對位控制方法研究。船體分段合攏對接過程是一個難以建立數(shù)學(xué)模型的非線性系統(tǒng),針對這一特點深入研究了可調(diào)平臺控制策略問題,理論證明了基于多新息理論的無模型控制律的收斂性問題,并對控制律中的參數(shù)采用遺傳算法進(jìn)行在線優(yōu)化；提出了基于多新息理論的PID神經(jīng)網(wǎng)絡(luò)控制算法,并證明了該方法的收斂性。最后采用多個仿真實例對所提出的兩種改進(jìn)算法進(jìn)行驗證,結(jié)果表明,改進(jìn)后的兩種控制算法都比原算法收斂速度快,具有更強的魯棒性。 (5)面向造船工程實際,采用自主發(fā)明專利技術(shù)制作了三自由度可調(diào)墩樣機(jī),提出了基于開放式控制系統(tǒng)開發(fā)規(guī)范的可調(diào)墩控制系統(tǒng)的框架結(jié)構(gòu),研制開發(fā)了可調(diào)墩控制系統(tǒng)的軟硬件平臺,并在平臺控制算法庫中,實現(xiàn)了本文提出的基于多新息理論的PIDNN控制算法,實際控制效果進(jìn)一步驗證了方法的有效性。本文研發(fā)了具有自主知識產(chǎn)權(quán)的船體分段大尺度測量誤差分析系統(tǒng)和模擬搭載系統(tǒng),實現(xiàn)了船體分段無余量建造誤差分析和模擬搭載過程分析,以及有余量測量建造誤差分析和模擬搭載功能,本研究成果已應(yīng)用于廣新海事重工股份有限公司的多艘實船建造中,取得了較好的實際工程應(yīng)用效果。
[Abstract]:With the development of science and technology and the improvement of shipbuilding technology, in order to improve the efficiency and quality of shipbuilding, the shipbuilding mode is developing to the huge construction process in the general section. This has put forward higher requirements for the level of ship design and the control of manufacturing precision. How to quickly and accurately determine the hull section product and theoretical model in the process of measuring and constructing the ship body quickly and accurately It has become a hot topic in the field of marine and marine engineering at home and abroad. Therefore, the study of these problems has very important theoretical significance and practical application value.
Based on the current research situation of related issues at home and abroad, this paper has carried out further research on these key issues.
(1) research on the deformation and anti deformation measures in the process of ship hull construction. During the process of ship construction, welding, pier, hoisting, displacement and other processes will cause the deformation of hull section. In this paper, the causes of hull deformation are analyzed in detail, and corresponding counter deformation measures are put forward for different deformation conditions.
(2) the large scale measurement method of hull section based on total station is studied. The large scale three-dimensional measurement method of hull section in the process of subsection construction and loading is analyzed. The principle of selecting the theoretical point set, the theoretical point set and the common matching method of the measurement point set are discussed, and the matching of the corresponding point set is combined with the characteristics of the three dimensional measurement of the hull section. For the deficiency of point to homogeneous method, an improved three point pair method is proposed based on the least square method to select the center point. For the common iterative nearest point method (ICP), a two phase matching method which first uses principal component analysis (PCA) and then ICP is used to match well is proposed, which effectively improves the matching precision.
(3) study on the automatic system and control strategy of hull section closure. Aiming at the long time of hoisting machine and hidden danger of safety, a three dimensional adjustable platform system is designed for hull section closure. The system is composed of multiple adjustable piers with three degrees of freedom, and a single adjustable pier can achieve a certain range of three. The multi degree of freedom movement can be realized by the control of group piers, so as to realize the construction technology of the ship body with safety, high efficiency and high precision.
(4) study on the segmented alignment control method of ship hull based on the theory of multiple interest (Multi-innovation). The section closure and docking of the hull is a nonlinear system which is difficult to establish a mathematical model. The control strategy of adjustable platform is studied in depth. The convergence of the model free control law based on the theory of multi interest is proved. A genetic algorithm is used to optimize the parameters of the control law, and the PID neural network control algorithm based on the theory of multiple interest is proposed, and the convergence of the proposed method is proved. At last, a number of simulation examples are used to verify the two improved algorithms. The results show that the improved two control algorithms are all compared to the original algorithm. The convergence speed of the method is faster, and it is more robust.
(5) facing the actual Shipbuilding Engineering, the three DOF adjustable pier prototype is made by using the proprietary invention patent technology, and the frame structure of the adjustable pier control system based on the open control system development specification is put forward. The software and hardware platform of the adjustable pier control system is developed and developed, and the base of this paper is based on the platform control algorithm library. The effectiveness of the method is further verified by the actual control effect of the PIDNN control algorithm of the multi new interest theory. In this paper, a large scale measurement error analysis system and an analog loading system with independent intellectual property rights are developed, and the analysis of the construction error analysis and the simulation of the loading process and the residual measurement are realized. The results of this study have been applied to the construction of multiple real ships in the Limited by Share Ltd of the new maritime industrial heavy industry, which has achieved good practical application results.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：U671
本文編號：2146426
[Abstract]:With the development of science and technology and the improvement of shipbuilding technology, in order to improve the efficiency and quality of shipbuilding, the shipbuilding mode is developing to the huge construction process in the general section. This has put forward higher requirements for the level of ship design and the control of manufacturing precision. How to quickly and accurately determine the hull section product and theoretical model in the process of measuring and constructing the ship body quickly and accurately It has become a hot topic in the field of marine and marine engineering at home and abroad. Therefore, the study of these problems has very important theoretical significance and practical application value.
Based on the current research situation of related issues at home and abroad, this paper has carried out further research on these key issues.
(1) research on the deformation and anti deformation measures in the process of ship hull construction. During the process of ship construction, welding, pier, hoisting, displacement and other processes will cause the deformation of hull section. In this paper, the causes of hull deformation are analyzed in detail, and corresponding counter deformation measures are put forward for different deformation conditions.
(2) the large scale measurement method of hull section based on total station is studied. The large scale three-dimensional measurement method of hull section in the process of subsection construction and loading is analyzed. The principle of selecting the theoretical point set, the theoretical point set and the common matching method of the measurement point set are discussed, and the matching of the corresponding point set is combined with the characteristics of the three dimensional measurement of the hull section. For the deficiency of point to homogeneous method, an improved three point pair method is proposed based on the least square method to select the center point. For the common iterative nearest point method (ICP), a two phase matching method which first uses principal component analysis (PCA) and then ICP is used to match well is proposed, which effectively improves the matching precision.
(3) study on the automatic system and control strategy of hull section closure. Aiming at the long time of hoisting machine and hidden danger of safety, a three dimensional adjustable platform system is designed for hull section closure. The system is composed of multiple adjustable piers with three degrees of freedom, and a single adjustable pier can achieve a certain range of three. The multi degree of freedom movement can be realized by the control of group piers, so as to realize the construction technology of the ship body with safety, high efficiency and high precision.
(4) study on the segmented alignment control method of ship hull based on the theory of multiple interest (Multi-innovation). The section closure and docking of the hull is a nonlinear system which is difficult to establish a mathematical model. The control strategy of adjustable platform is studied in depth. The convergence of the model free control law based on the theory of multi interest is proved. A genetic algorithm is used to optimize the parameters of the control law, and the PID neural network control algorithm based on the theory of multiple interest is proposed, and the convergence of the proposed method is proved. At last, a number of simulation examples are used to verify the two improved algorithms. The results show that the improved two control algorithms are all compared to the original algorithm. The convergence speed of the method is faster, and it is more robust.
(5) facing the actual Shipbuilding Engineering, the three DOF adjustable pier prototype is made by using the proprietary invention patent technology, and the frame structure of the adjustable pier control system based on the open control system development specification is put forward. The software and hardware platform of the adjustable pier control system is developed and developed, and the base of this paper is based on the platform control algorithm library. The effectiveness of the method is further verified by the actual control effect of the PIDNN control algorithm of the multi new interest theory. In this paper, a large scale measurement error analysis system and an analog loading system with independent intellectual property rights are developed, and the analysis of the construction error analysis and the simulation of the loading process and the residual measurement are realized. The results of this study have been applied to the construction of multiple real ships in the Limited by Share Ltd of the new maritime industrial heavy industry, which has achieved good practical application results.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2013
【分類號】：U671
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