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一种用于深海装备主动升沉补偿的控制方法
Alternative TitleMethod for controlling active heave compensation in deep-sea facility
陈琦; 张奇峰; 张巍; 冀萌凡
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发明授权
Status有权
Abstract本发明涉及一种用于深海装备主动升沉补偿的控制方法,包括以下步骤:通过二次积分处理测量的母船升沉运动加速度值,得到母船升沉位移信号;将母船升沉位移信号与测量的缆绳收放位移比较,得到升沉补偿装置需要补偿的缆绳位移量和需补偿的缆绳位移量变化率;设计混合模糊P+ID控制器,由输入信号缆绳位移补偿量和缆绳位移补偿量变化率,输出收放绞车的电控比例方向阀控制信号,实现深海装备主动升沉补偿。本发明方法可以直接移植到现有深海装备收放绞车控制系统上,只需安装一个惯性测量传感器和一个缆绳位移传感器,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 AbstractThe method involves measuring main ship heave movement acceleration value by using an inertia measuring sensor for obtaining a main ship lifting and sinking displacement signal according to secondary integration. A winch cable is collected by a cable displacement sensor to measure a cable displacement signal. A fuzzy proportional integral derivative (PID) controller is designed for determining cable displacement compensation quantity and compensation quantity change rate. Electric control proportion of an output signal is detected for obtaining a winch direction valve control signal.
PCT Attributes
Application Date2015-12-17
2017-06-27
Date Available2019-01-11
Application NumberCN201510960097.5
Open (Notice) NumberCN106892368B
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/24070
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,张奇峰,张巍,等. 一种用于深海装备主动升沉补偿的控制方法[P]. 2017-06-27.
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