摘要
为模拟采矿船的升沉运动,设计一套能提供典型海浪运动模拟的单自由度垂直往复运动的电液振动台及其计算机控制系统,系统控制部分采用上\下位工控机结构,分别完成数据采集、实时控制、运行参数监控和数据处理的功能,对海浪模拟运动控制系统进行建模,并设计运动控制器,开发控制软件,控制策略采用自学习能力的模糊滑模控制策略,控制参数调整方便。通过试验验证,能实现典型的波形再现和功率谱再现。
In order to simulate the heaving motion of mining ship, designed this electro-hydraulic shaking table which can provide perpendicular reciprocating ship motion of single freedom degree based on typical vibration conditions and its computer control system,the up and down IPC configuration is used in the part of the system and respective functions are data gathering,real-time controlling, running parameter monitoring and data processing. Have achieved the computer control system modeling, designed the motion controller and the control software. The control strategy adopts self-organizing fuzzy sliding mode control and it is easy to adjust the control parameter. The experimental results show that it can achieve typical waveform and power spectrum replication.
出处
《现代制造工程》
CSCD
北大核心
2009年第7期10-14,共5页
Modern Manufacturing Engineering
基金
国家自然科学基金项目(E051301)
关键词
深海采矿升沉补偿系统
运动模拟平台
运动控制
模糊滑模控制
heave compensation system for deep-sea mining
motion simulation platform
motion control
fuzzy sliding mode control
