主被动一体式升沉补偿系统及其控制方法

摘要

This paper designs an active-passive heave compensation system. In order to make this system meet the required indexes of stability and compensation rate at the same time, the influence of inherent frequency and damping ratio on the stability and compensation rate was analyzed, and the relationship between the inherent frequency and damping ratio and the velocity feedback and acceleration feedback coefficients was also inferred. At the basis of these theoretical studies, a feedback corrective control method was put forward. This method means adding the velocity feedback and acceleration feedback correction links in the control system and figuring out the correct coefficients using the relationship between the inherent frequency and damping ratio and the velocity feedback and acceleration feedback coefficients. This method can make the system meeting the required indexes of stability and compensation rate at the same time. At last the simulation about the designed system was conducted and the result indicates that the heave compensation system and feedback corrective control method achieves very good effect.%设计一种舰船吊放作业主被动一体式升沉补偿系统。为使其达到性能要求，建立系统模型，分析系统的固有频率、阻尼比对系统稳定性和补偿率的影响，导出固有频率、阻尼比与速度反馈和加速度反馈系数之间的关系。在此基础上提出一种反馈校正控制方案，即在控制系统中加入速度反馈和加速度反馈校正环节，计算出合适的校正系数值，从而使系统能够同时满足稳定性和补偿率的性能指标要求。最后对所设计的补偿系统进行了仿真验证。仿真结果表明，设计的补偿系统和反馈校正控制方案有很好的补偿效果。