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布缆船收放装置控制系统关键问题研究
其他题名Research on Key Problems of the Control System of Cable Laying Ship Launching and Recovering Device
徐亮1,2
导师郭威
分类号TP273
关键词双绞车 恒张力 虚拟现实 监控系统 Plc通信
索取号TP273/X75/2013
页数78页
学位专业控制工程
学位名称硕士
2013-05-28
学位授予单位中国科学院沈阳自动化研究所
学位授予地点沈阳
作者部门水下机器人研究室
摘要以“布缆船收放装置”项目为依托,主要围绕着布缆船收放装置双绞车方案控制系统的两个关键问题进行了详细研究和阐述,其分别是储缆绞车的恒张力控制和布缆船收放装置的监控系统。(1)储缆绞车恒张力控制。为了获得良好的储缆效果,需要尽量保持牵引绞车与储缆绞车间铠缆张力的恒定。通过对双绞车系统结构与工作特性的分析,并经过对各种驱动方案优缺点的比较,最终选取了液压与电动两种方案。根据这两种方案各自的工作原理,分别对其建立了相应的数学模型。并针对两种方案各自的特点,制定了符合各自要求的控制方法。考虑到储缆绞车系统具有非线性、时变特性,两种方案均采用了具有参数自整定功能的增量式模糊PID控制器。然后利用MATLAB软件中的Simulink可视化仿真模块对两种方案进行了仿真模型的建立以及仿真结果的对比分析。最后从多个角度对两种方案进行了综合对比,并制成表格,为今后方案的制定提供一定的参考意见。(2)布缆船收放装置监控系统。布缆船收放装置在实际工作过程中,由于操作间与工作现场相隔离,需要一套安全可靠的监控系统对工作现场进行实时监视,用以辅助操作人员进行相关操作。为了改善传统摄像头监控方案的诸多不足,本文提出了一种基于Vega Prime的收放装置新型监控系统,它采用了先进的虚拟现实技术,并结合MFC编程技术以及PLC通信技术等,实现了收放装置位置与状态信息在监控计算机上的三维立体化实时显示,而且还可以实现各种被控参数以及报警信息的综合性集中监控,同时还能协助系统中的其他模块完成系统的数据共享以及复杂的控制任务等。
其他摘要In this paper, with funding of the “cable laying ship launching and recovering device” project, two key problems of the double drum winch control system of cable laying ship launching and recovering device, including the storage winch constant tension control and the monitoring system of cable laying ship launching and recovering device. (1) Storage winch constant tension control. In order to obtain a good cable storage effect, keep a constant tension of the armored cable between traction winch and storage winch is required. Through the analysis of the system structure and working characteristic, and comparing advantages and disadvantages of various drive schemes, hydraulic scheme and electric scheme were chosen. According to the working principle of the two schemes, their corresponding mathematical models are established respectively. And according to the respective characteristics of the two schemes, control strategy which meets the requirements of each scheme were developed. Considering the nonlinear and Abstract III time-varying characteristics of the winch system, both of the two schemes are adopted with incremental fuzzy PID controller with parameter self-tuning function. Then establishing simulation modules and making contrastive analysis of simulation results by using Visualization simulation module Simulink of MATLAB software. Finally carrying on the comprehensive comparison on two kinds of schemes from multiple angles, and making the results into the form, to provide reference information for the establishment of the future plan. (2)Monitoring system of cable laying ship launching and recovering device. In the actual work process, because of the isolate of handling room and work site, the cable laying ship launching and recovering device needs a safe and reliable monitoring system for real-time monitoring of operation on the spot to assist operators for relates operation. In order to improve the traditional camera monitoring scheme, this paper introduces a kind of new launching and recovering device monitoring system based on Vega Prime, it uses the advanced virtual reality technology, and combines with the MFC programming technology and communication technology of PLC and so on, realizes the three-dimensional real-time display of the position and state information of the launching and recovering device in the monitoring computer, and can carry out comprehensive centralized monitoring of various controlled parameter and alarm information, and at the same time also can assist other modules in the system with completing system data sharing and complex control tasks and so on.
语种中文
产权排序1
文献类型学位论文
条目标识符http://ir.sia.cn/handle/173321/10787
专题水下机器人研究室
作者单位1.中国科学院沈阳自动化研究所
2.中国科学院大学
推荐引用方式
GB/T 7714
徐亮. 布缆船收放装置控制系统关键问题研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2013.
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