本文選題：波浪補償器 + 力伺服液壓控制系統(tǒng)��； 參考：《安徽工程大學(xué)》2013年碩士論文

【摘要】：隨著海洋資源的開發(fā)和利用,人們對海洋工程裝備的使用性能要求越來越高,如何提高海洋工程裝備的安全性、穩(wěn)定性、準確性已成為一個重要研究課題。起重機作為海洋作業(yè)中廣泛使用的機械裝備,那么對其快速性、準確性、精確性等控制性能方面研究顯得格外重要。本課題旨在設(shè)計適用于YH25波浪補償器的力伺服液壓控制系統(tǒng),建立其數(shù)學(xué)模型,通過模糊PID算法對波浪補償器的動態(tài)控制性能進行研究,反復(fù)調(diào)試得出YH25波浪補償控制系統(tǒng)的模糊PID控制技術(shù),以提高系統(tǒng)的動態(tài)特性和穩(wěn)態(tài)特性,減少起重機在海上工作時受波浪的影響,為新型主動波浪補償功能起重機的控制系統(tǒng)研發(fā)提供參考依據(jù)。 本文首先研究YH25波浪補償器液壓控制系統(tǒng)的各種方案,制訂了該系統(tǒng)的整體研究方案,該系統(tǒng)的動力傳遞裝置為力伺服液壓控制系統(tǒng)。設(shè)計YH25波浪補償器液壓系統(tǒng)的原理圖和液壓系統(tǒng)的結(jié)構(gòu),選擇液壓系統(tǒng)中的各種液壓元件,得到其力伺服液壓控制系統(tǒng)數(shù)學(xué)仿真的相關(guān)參數(shù)。接著建立YH25波浪補償器的力伺服液壓控制系統(tǒng)的數(shù)學(xué)模型,并推導(dǎo)出其狀態(tài)方程,為其能觀、能控等控制性能的分析和數(shù)學(xué)模型仿真做好準備。其次提出了模糊PID控制算法,設(shè)計出模糊PID控制器,并將其用于YH25波浪補償器的力伺服液壓控制系統(tǒng)中。仿真結(jié)果表明：與基于工程經(jīng)驗得出的PID值的YH25波浪補償器的力伺服液壓控制系統(tǒng)相比,基于模糊PID算法的YH25波浪補償器的力伺服液壓控制系統(tǒng)的動態(tài)控制特性得到有效地改善,提高了系統(tǒng)抗干擾能力以及參數(shù)時變的魯棒性。最后在以鍋爐內(nèi)膽作為被控對象的過程控制實驗中,分別輸入基于模糊PID算法得出的PID值和基于工程經(jīng)驗算法得出的PID值,實驗結(jié)果表明,相對工程經(jīng)驗得出的PID值,基于模糊PID算法得出的PID值控制的鍋爐內(nèi)膽溫度在外界隨機信號干擾下,能較快、較穩(wěn)定地控制鍋爐內(nèi)膽的溫度,使其趨于一個期望值,滿足我們所要求的結(jié)果。由此驗證了所設(shè)計的模糊PID算法控制策略是準確可行的,具有普遍適用性。 YH25波浪補償器的力伺服液壓控制系統(tǒng)設(shè)計、數(shù)學(xué)模型仿真和驗證實驗完成后進行產(chǎn)品搭載試驗,使其具有實際應(yīng)用價值。 通過本課題研究,設(shè)計了YH25波浪補償器的力伺服液壓控制系統(tǒng),研究出了適合YH25波浪補償器的力伺服液壓控制系統(tǒng)的模糊PID算法,該液壓系統(tǒng)能實現(xiàn)快速、準確、穩(wěn)定地適應(yīng)海浪作用影響下的交變載荷,運用模糊PID控制算法控制策略優(yōu)化了其動態(tài)控制特性，，
[Abstract]:With the development and utilization of marine resources, more and more people require the performance of marine engineering equipment. How to improve the safety, stability and accuracy of marine engineering equipment has become an important research topic. Crane is widely used in offshore operation, so it is very important to study its control performance such as rapidity, accuracy and accuracy. The purpose of this paper is to design a force servo hydraulic control system suitable for YH25 wave compensator, to establish its mathematical model, and to study the dynamic control performance of wave compensator by fuzzy PID algorithm. The fuzzy PID control technology of YH25 wave compensation control system is obtained by debugging repeatedly in order to improve the dynamic and steady-state characteristics of the system and reduce the influence of the wave on the crane working at sea. It provides a reference for the research and development of the control system of a new type of active wave compensation crane. In this paper, various schemes of hydraulic control system of YH25 wave compensator are studied, and the overall research scheme of the system is worked out. The power transfer device of the system is a force servo hydraulic control system. The principle diagram and structure of hydraulic system of YH25 wave compensator are designed. The parameters of mathematical simulation of force servo hydraulic control system are obtained by selecting various hydraulic components in hydraulic system. Then the mathematical model of the force servo hydraulic control system of YH25 wave compensator is established, and the equation of state is deduced, which is ready for the analysis of its observable and controllable control performance and the simulation of its mathematical model. Secondly, the fuzzy PID control algorithm is proposed, and the fuzzy PID controller is designed and used in the force servo hydraulic control system of the YH25 wave compensator. The simulation results show that compared with the force servo hydraulic control system of YH25 wave compensator based on the PID value obtained from engineering experience, The dynamic control characteristics of the force servo hydraulic control system of the YH25 wave compensator based on fuzzy PID algorithm are improved effectively, and the anti-interference ability and the robustness of the time-varying parameters of the system are improved. Finally, in the process control experiment with boiler inner tank as the controlled object, the PID value based on fuzzy PID algorithm and the PID value based on engineering experience algorithm are inputted respectively. The experimental results show that the PID value is relative to the PID value obtained from engineering experience. The temperature of boiler inner tank controlled by PID value based on fuzzy PID algorithm can be controlled more quickly and stably under the interference of random signals from outside, which makes it tend to be a expected value and meet the demand of our results. It is verified that the proposed fuzzy PID algorithm control strategy is accurate and feasible. The design of force servo hydraulic control system of YH25 wave compensator, the simulation of mathematical model and the test of product loading are carried out after the completion of the experiment, which makes it have practical application value. Through the research of this subject, the force servo hydraulic control system of YH25 wave compensator is designed, and the fuzzy PID algorithm of force servo hydraulic control system suitable for YH25 wave compensator is studied. The hydraulic system can be realized quickly and accurately. The dynamic control characteristics are optimized by using fuzzy PID control algorithm, which adapts to the alternating load under the influence of ocean waves stably.
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TH21;P742;TP273

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