有缆水下机器人主动升沉补偿控制研究

J4 ›› 2009, Vol. 20 ›› Issue (23): 2777-2781.

有缆水下机器人主动升沉补偿控制研究

杨文林1,2,3;张艾群1;张竺英1;魏素芬1,2

1.中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳,110016

2.中国科学院研究生院,北京,100049 3.三一重型装备有限公司,沈阳,110027

出版日期:2009-12-10 发布日期:2010-01-29

Research on Active Heave Compensation Control of Remotely Operated Vehicle

Yang Wenlin1,2,3; Zhang Aiqun1;Zhang Zhuying1;Wei Sufen1,2

1.State Key Laboratory of Robotics, Shenyang Institute of Automation,

Chinese Academy of Sciences,Shenyang,110016

2.Graduate School of the Chinese Academy of Sciences,Beijing,100049

3.SANY Heavy Equipment Co., Ltd.,Shenyang,110027

Online:2009-12-10 Published:2010-01-29

摘要/Abstract

摘要：



针对母船的升沉运动影响有缆水下机器人的释放与回收的工程实际需求,提出了利用液压绞车降低中继器的升沉速度来实现水下机器人主动升沉补偿控制的方法，来提高水下机器人释放与回收的安全性能。建立液压绞车的数学模型并设计主动升沉补偿前馈控制器。水下机器人主动升沉补偿实验表明液压系统的非线性降低了液压绞车主动升沉补偿前馈控制的升沉补偿效率。针对液压绞车的非线性特性，设计了液压绞车主动升沉补偿预测控制算法，仿真实验表明基于液压系统参数辨识的液压绞车主动升沉补偿预测控制可以得到较高的升沉补偿效率。

关键词:

有缆水下机器人, 主动升沉补偿, 液压绞车, 预测控制

Abstract:

The heave motion of supporting ship affects the launching

and recovering of remotely operated vehicle(ROV).Active compensation control of hydraulic winch was used to improve the launching and recovering safety of ROV by reducing the heave speed of tether management system (TMS). The model of hydraulic winch was built and active heave compensation feedforward control was set up. Active heave compensation tests of ROV indicate that non-linearity of hydraulic winch decreases the efficiency of active heave compensation. Hydraulic winch active heave compensation predictive control was designed. Simulation test shows that hydraulic winch active compensation predictive control with parameters identification of hydraulic system improves the efficiency of heave compensation.

Key words: remotely operated vehicle(ROV), active heave compensation, hydraulic winch, predictive control

中图分类号:

TP271

杨文林, 张艾群, 张竺英, 魏素芬. 有缆水下机器人主动升沉补偿控制研究[J]. J4, 2009, 20(23): 2777-2781.

YANG Wen-Lin, ZHANG Ai-Qun, ZHANG Du-Yang, WEI Su-Fen. Research on Active Heave Compensation Control of Remotely Operated Vehicle[J]. J4, 2009, 20(23): 2777-2781.

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[2]	吴金波, 宋宇宸. 海上作业起重机主动升沉补偿系统的设计与分析[J]. 中国机械工程, 2016, 27(15): 1989-1996.