| 一种用于拖曳缆绳张力恒定的控制方法 | |
| Alternative Title | Towing cable tension constant control method |
陈琦; 张竺英 ; 孙斌
| |
| Department | 水下机器人研究室 |
| Rights Holder | 中国科学院沈阳自动化研究所 |
| Patent Agent | 沈阳科苑专利商标代理有限公司 21002 |
| Country | 中国 |
| Subtype | 发明 |
| Status | 有权 |
| Abstract | 本发明涉及一种用于拖曳缆绳张力恒定的控制方法，包括以下步骤:实时检测缆绳张力并进行滤波得到实际值；将实际值与设定值比较得到缆绳张力误差和张力误差变化率；设计混合模糊P+ID控制器，对输入信号缆绳张力误差和张力误差变化率进行调整，输出拖曳绞车的电控比例方向阀增量控制信号，实现调整拖曳缆绳张力恒定。本发明方法可以直接移植到现有被动式恒张力绞车控制系统上，只需安装一个轴销式张力传感器，改造成本低，扩展性强。本发明方法用混合模糊P+ID的控制器代替了传统PID的比例项，改善了控制精度，鲁棒性。 |
| Other Abstract | The method involves detecting a cable tension measuring value in real-time by performing digital filter process. A cable tension actual value is obtained. A time cable tension error and a tension error change rate are obtained by performing difference operation on the cable tension actual value and a cable tension preset value. A fuzzy controller is designed by considering the cable tension error and the tension error change rate as an input signal. An electric control proportion of a towing winch direction valve control signal is considered as an output signal. |
| PCT Attributes | 否 |
| Application Date | 2015-12-17 |
| 2017-06-27 | |
| Date Available | 2019-01-15 |
| Application Number | CN201510945987.9 |
| Open (Notice) Number | CN106892369A |
| Language | 中文 |
| Contribution Rank | 1 |
| Document Type | 专利 |
| Identifier | http://ir.sia.cn/handle/173321/20675 |
| Collection | 水下机器人研究室 |
| Affiliation | 中国科学院沈阳自动化研究所 |
| Recommended Citation GB/T 7714 | 陈琦,张竺英,孙斌. 一种用于拖曳缆绳张力恒定的控制方法[P]. 2017-06-27. |
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