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工程科学与技术:2024,56(1):11-21
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基于PI建模和反步滑模控制的主动波浪补偿策略
(上海海事大学 物流工程学院,上海 201306)
Research on Wave Compensation Strategy Based on PI Model and Backstepping Sliding Control
(Logistics Eng. College, Shanghai Maritime Univ., Shanghai 201306, China)
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本文已被:浏览 262次   下载 132
投稿时间:2022-12-07    
中文摘要: 海上起重船受风、浪、涌影响会产生剧烈的船舶姿态变化,造成起重机和货物的位姿变化,对货物和人员存在安全隐患,波浪补偿平台的稳定性控制能有效减少复杂海况下船舶运动对海上作业安全性、稳定性和精准性的影响,对浮式起重船海上设备精准装载作业极其重要。针对补偿平台的迟滞非线性导致的建模困难和控制不精确问题,本文提出基于PI(Prandtle–Ishlinskii)建模和反步滑模控制的主动波浪补偿策略。首先,通过实验得到补偿系统的迟滞效应曲线,分析系统迟滞环建立PI迟滞模型,并采用递推最小二乘法辨识模型的各个参数,从而求得系统模型。然后,基于李雅普诺夫(Lyapunov)稳定性设计反步控制补偿方法,并结合滑模控制规律加快初始控制速度。最后,将反步滑模法应用于补偿系统,采用MATLAB软件仿真在规则波和不规则波下的响应来验证算法和模型的正确性,并在工控机中用C#编写控制程序,驱动运动控制卡控制伺服电机带动电缸进行补偿运动,同时通过传感器采集系统运动的实时数据,并反馈给工控机形成闭环,以期验证补偿平台在补偿规则波和不规则波下的补偿效果。实验结果表明,所建立的斯图尔特(Stewart)浮式平台中,PI迟滞模型具有良好的精度,反步终端滑模控制算法在Stewart平台的实际控制中能够很好地补偿波浪运动,相比比例–积分–微分控制(PID)、反步法、强化学习等控制方法,反步终端滑模方法能快速较好跟踪期望位移,补偿精度达到0.972 9。
Abstract:Influenced by wind, waves, and surges, offshore crane ships can suffer from serious changes in ship attitude, resulting in changes in the posture of the crane and cargo, which has potential safety hazards to cargo and personnel. The stability control of the wave compensation platform can effectively reduce the motion impact on the safety, stability and accuracy of offshore operations, which is extremely important for the precise loading of offshore equipment on floating cranes. Aiming at the difficulty in modeling and inaccurate control caused by the hysteretic nonlinearity of the compensation platform, an active wave compensation strategy is proposed based on PI modeling and backstepping sliding mode control in this work. Firstly, the hysteresis effect curve of the compensation system is obtained through experiments, the PI hysteresis model is established by analyzing the system hysteresis loop. The parameters of the PI hysteresis model are identified by the recursive least square method, which supports the formulation of the system model. In succession, the backstepping control compensation method is designed based on Lyapunov stability, and the initial control speed is accelerated by combining the sliding mode control law. Finally, the backstepping sliding control method is applied to the compensation system. The performance of the proposed method is validated by simulating the response under regular and irregular waves in MATLAB. The resulting control strategy is further applied to perform compensation movement by driving the electric cylinder (based on the motion control card Control the servo motor). The real-time data of the system movement is collected through the sensor, which is fed back to the control strategy to form a closed loop, aiming to confirm the performance of the compensation platform under the both the regular and irregular waves. The experimental results show that the established PI hysteresis model of the Stewart platform achieve desired accuracy, and the backstepping terminal sliding mode control algorithm is able to compensate the wave motion in the actual control of the Stewart platform with high-performance. Compared with PID, backstepping method, reinforcement learning and other control methods, the proposed method can provide high performance to meet the practical requirements.
文章编号:202201337     中图分类号:P751    文献标志码:
基金项目:国家自然科学基金项目(NSFC52105466)
作者简介:第一作者:张琴(1982-),女,博士,副教授.研究方向:多海域分布式船舶系统的运动预测及补偿控制.E-mail:qinzhang@shmtu.edu.cn;通信作者:胡雄,E-mail:huxiong@shmtu.edu.cn
引用文本:
张琴,张蒸忠,洪逸帆,顾邦平,胡雄.基于PI建模和反步滑模控制的主动波浪补偿策略[J].工程科学与技术,2024,56(1):11-21.
ZHANG Qin,ZHANG Zhengzhong,HONG Yifan,GU Bangping,HU Xiong.Research on Wave Compensation Strategy Based on PI Model and Backstepping Sliding Control[J].Advanced Engineering Sciences,2024,56(1):11-21.