本文選題：海上施工 + 浮吊��； 參考：《中國工程機械學(xué)報》2016年03期

【摘要】：浮吊在海上施工建設(shè)時,波浪的起伏會造成下降中的重物與突然上升的施工或補給對象的碰撞,導(dǎo)致重大安全事故的發(fā)生.為了抑制波浪對浮吊海上作業(yè)的動態(tài)影響,提高作業(yè)效率,提出一種基于在線遺傳算法整定PID(Proportional-Integral-Darivative)控制器的主動式波浪補償系統(tǒng);在設(shè)計系統(tǒng)的基礎(chǔ)上,采用ADAMS、AMESim和MATLAB聯(lián)合仿真平臺,對本方案的波浪補償系統(tǒng)的控制效果進(jìn)行仿真與研究.最后在物理樣機中對該系統(tǒng)的控制策略的有效性進(jìn)行試驗驗證.仿真和試驗結(jié)果表明:該補償系統(tǒng)能使吊運載荷的相對運動和波浪作用下船體的運動在升沉方向解耦,并且本文提出的控制器具有較高的魯棒性和穩(wěn)定性,能根據(jù)海況的變化及時調(diào)整控制參數(shù),控制效果令人滿意.
[Abstract]:During the construction of floating crane on the sea, the fluctuation of wave will cause the collision between the falling heavy object and the suddenly rising construction or resupply object, which will lead to the occurrence of major safety accident. In order to restrain the dynamic effect of wave on floating crane operation and improve the efficiency of operation, an active wave compensation system based on on-line genetic algorithm tuning PID-Proportional-Integral-Darivative-based controller is proposed, and based on the design system, an ADAMS AMESim and MATLAB joint simulation platform is adopted. The control effect of the wave compensation system is simulated and studied. Finally, the effectiveness of the control strategy is tested in the physical prototype. The simulation and experimental results show that the compensation system can decouple the ship motion in the heave direction under the relative motion of hoisting load and the wave action, and the controller presented in this paper has high robustness and stability. The control parameters can be adjusted in time according to the changes of sea conditions, and the control effect is satisfactory.
【作者單位】： 同濟(jì)大學(xué)機械與能源工程學(xué)院;
【基金】：國家科技支撐計劃項目(2013BAG19B00-01) “十二五”國家科技支撐計劃項目(2011BAJ02B00)
【分類號】：P752

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本文編號：1808281