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  本文關(guān)鍵詞：水面浮動(dòng)平臺(tái)的擾動(dòng)分析及控制系統(tǒng)研究　出處：《南京理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 浮動(dòng)平臺(tái) 波浪擾動(dòng) 浮囊 姿態(tài)控制

【摘要】：隨著我國經(jīng)濟(jì)的進(jìn)步,水面浮動(dòng)平臺(tái)廣泛應(yīng)用在海洋工程領(lǐng)域。作為一種水面漂浮基礎(chǔ),浮動(dòng)平臺(tái)需要為水上設(shè)備的定位、瞄準(zhǔn)等工作提供相對穩(wěn)定的漂浮環(huán)境。本文以小型浮動(dòng)平臺(tái)為研究對象,從系統(tǒng)的姿態(tài)穩(wěn)定性出發(fā),開展以下幾方面的研究:分析浮動(dòng)平臺(tái)的波浪擾動(dòng)作用,進(jìn)行水動(dòng)力特性研究。結(jié)合浮動(dòng)平臺(tái)的結(jié)構(gòu)特點(diǎn),以勢流理論為基礎(chǔ),研究多浮體平臺(tái)的波浪擾動(dòng)機(jī)理,推導(dǎo)浮動(dòng)平臺(tái)的水面波浪力,建立水面浮動(dòng)平臺(tái)的多體動(dòng)力學(xué)模型。研究平臺(tái)的拓?fù)浣Y(jié)構(gòu),利用水動(dòng)力仿真軟件計(jì)算浮動(dòng)平臺(tái)的水面穩(wěn)定性。仿真對比不同結(jié)構(gòu)下浮動(dòng)平臺(tái)的運(yùn)動(dòng)預(yù)報(bào),分析浮囊的配置以及結(jié)構(gòu)的變化對平臺(tái)主體水動(dòng)力性能的影響,從結(jié)構(gòu)上優(yōu)化浮動(dòng)平臺(tái)的配置,增加平臺(tái)主體的水面穩(wěn)定性。為后續(xù)的姿態(tài)控制工作提供理論依據(jù)。研究浮動(dòng)平臺(tái)的主動(dòng)控制策略。分析目前已知的平臺(tái)姿態(tài)的控制方法和控制策略。采用機(jī)電式二自由度的并聯(lián)機(jī)構(gòu)對水面浮動(dòng)平臺(tái)的姿態(tài)進(jìn)行精確的控制�；谀：齈ID算法對控制系統(tǒng)進(jìn)行仿真分析,實(shí)現(xiàn)平臺(tái)姿態(tài)的自主控制,為平臺(tái)的負(fù)載設(shè)備提供穩(wěn)定的水面工作環(huán)境。進(jìn)行水面浮動(dòng)平臺(tái)的姿態(tài)性能測試。開展浮動(dòng)平臺(tái)的水動(dòng)力性能測試,測量浮動(dòng)平臺(tái)在水面的運(yùn)動(dòng)軌跡,分析波浪與平臺(tái)響應(yīng)之間的關(guān)系;進(jìn)行浮動(dòng)平臺(tái)的姿態(tài)控制性能測試,提高浮動(dòng)平臺(tái)的穩(wěn)定精度,實(shí)現(xiàn)平臺(tái)系統(tǒng)對外力擾動(dòng)的有效抑制。
[Abstract]:With the development of our country's economy, floating platform is widely used in the field of ocean engineering. As a floating foundation, floating platform needs to locate the equipment on water. Aiming and other work provide a relatively stable floating environment. This paper takes the small floating platform as the research object, starting from the attitude stability of the system, carries out the following research: analyze the wave disturbance of the floating platform. According to the structure characteristics of floating platform and potential flow theory, the wave disturbance mechanism of multi-floating platform is studied, and the wave force on the surface of floating platform is deduced. The multi-body dynamics model of floating platform is established. The topological structure of the platform is studied. The stability of floating platform is calculated by hydrodynamic simulation software. The motion prediction of floating platform under different structures is simulated and compared. The configuration of floating capsule and the influence of structure change on the hydrodynamic performance of the platform are analyzed, and the configuration of floating platform is optimized from the structure. To increase the surface stability of the main body of the platform, to provide the theoretical basis for the subsequent attitude control work, to study the active control strategy of the floating platform, to analyze the known control methods and control strategies for the attitude of the platform, and to adopt electromechanical methods. The attitude of water surface floating platform is accurately controlled by the parallel mechanism with two degrees of freedom, and the control system is simulated and analyzed based on fuzzy PID algorithm. Realize the independent control of platform attitude, provide a stable surface working environment for the load equipment of the platform, carry out the attitude performance test of the floating platform, and carry out the hydrodynamic performance test of the floating platform. The moving track of floating platform on water surface is measured and the relationship between wave and platform response is analyzed. The attitude control performance of the floating platform is tested to improve the stability accuracy of the floating platform and to effectively suppress the external force disturbance of the platform system.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：P752

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本文編號(hào)：1384429