船用起重机主动升沉补偿系统时延的实时控制研究

针对基于液压驱动的主动升沉补偿系统在工作过程中所存在的非线性以及系统时滞等使系统稳定控制难度加大的问题,进行了基于广义预测控制的控制系统算法的设计;在系统控制稳定的基础上,引入极短期预报技术,解决了控制系统实时补偿输出总是滞后于起重母船升沉运动的问题,实现了主动升沉补偿系统对实时补偿功能的要求;最后在MATLAB/Simulink软件平台上,对采取广义预测控制+极短期预报相结合的主动升沉补偿系统时延实时控制方案进行了仿真试验,验证了该控制算法的有效性,为今后产品样机的研发提供理论依据。

Real Time-delay Control of Active Heave Compensation System for Marine Crane

To solve the problem that the nonlinear and time-delay of the active heave compensation system based on hydraulic drive which increases the difficulty of system stability control, the control system algorithm based on generalized predictive control is designed. On the basis of system control stability, the short-term forecasting technology is introduced to solve the problem that the real-time compensation output of the control system always lags behind the heave motion of the crane mother ship. Based on the MATLAB/Simulink platform, the real time- delay control scheme of the active heave compensation system is simulated and tested. The effectiveness of the control algorithm is verified, which can provide a theoretical basis for the development of product prototype in the future.