基于扰动观测器的海洋绞车速度控制研究

摘要

缆绳收放速度的控制性能是评价海洋绞车的重要指标之一.针对海洋环境下负载扰动大,丽常规闭式液压系统抑制能力不足的问题,提出构建扰动观测器进行补偿的控制策略,并采用AMESim软件进行仿真研究.理论分析和仿真结果均表明:该控制策略能较好地提高系统的抗于扰能力,增强系统在海洋环境应用的可靠性.%Speed control performance is one of the critical targets of evaluating marine winches. In order to overcome the large disturbance which can not be attenuated well by the conventional closed hydraulic systems in the marine environment, a control algorithm was proposed in which a disturbance observer was employed for compensation. Simulation study was carried out by using AMES-im software. The analytical and simulation results show that the proposed control algorithm is capable of improving the anti-disturbance ability and reliability of the system for the marine application.