船式起重机的建模与消摆控制研究

针对海上平台船式起重机在运行过程中负载摆动过大、运输效率低下等问题,将辨识与最优化技术应用到船式起重机中,对船式起重机各部分动力学关系进行了分析,建立了船式起重机的数学模型。考虑了负载与船体运动的相互耦合,在FLOW-3D(计算流体动力学软件)中建立了仿真平台,对船摇模型进行了参数辨识,从而建立了完整的系统模型。应用最优化方法设计了一种消摆控制器,该控制器由PI控制器、低通滤波器、陷波滤波器串联而成。最后在Matlab/Simulink上进行了控制模型的仿真试验,比较了负载摆角在控制前、后的差别,发现消摆控制器可以将负载的残余摆动控制在消摆前的10%左右。研究结果表明,通过使用FLOW-3D来辅助建模,效率高且准确;采用最优化方法设计的控制器能较大幅度抑制负载摆动,可以提高船式起重机的运输效率与安全系数。

Modeling and anti-swaying controller of ship-board crane

Aiming at the problems of load sway and inefficiency of shipboard crane during transfer, the identification and optimal method were applied. After the analysis of the kinematic and dynamic relations between parts of shipboard crane, the mathematic model was established. Considering coupling relationship of a load and a ship, a virtual plant was built in FLOW-3D（a Computation Fluid Dynamic software）. After the identification of ship sway model based on data acquired from the plant, the integrated control model was obtained. An optimal method was presented to design an anti-swaying controller which was comprised of PI controller, low pass filter and notch filter to control residual sway. The simulation of this control model was evaluated on the Matlab/Simulink. Swaying angle of a load with control was eliminated to about 10% comparing to the uncontrolled model. The results indicate that FLOW-3D is an effective and accurate tool to assist modeling and the anti-sway controller based on optimal method could reduce residual sway greatly. Efficiency and safety factor of a ship-board crane is increased largely.