Active Heave Compensation Active Disturbance Rejection Control System of Electric Driven Marine Winchs

China Mechanical Engineering

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Active Heave Compensation Active Disturbance Rejection Control System of Electric Driven Marine Winchs

LIAO Wei1;ZHAO Yanming2;LIU Deshun1,3;JIN Yongping1,3

1. School of Mechanical and Electrical Engineering, Hunan University of Science and Technology,Xiangtan,Hunan, 411201
2. School of Information and Electrical Engineering, Hunan University of Science and Technology,Xiangtan,Hunan, 411201
3. National Local Joint Engineering Laboratory of Marine Mineral Resources Exploration
Equipment and Security Technology, Hunan University of Science and Technology, Xiangtan, Hunan, 411201

Online:2018-12-25 Published:2018-12-24
Supported by:
National Natural Science Foundation of China （No. 51705145）
The Joint Funds of Hunan Provincial Natural Science Foundation of China （No. 2015JJ5029）
Hunan Provincial Science and Technology Major Project （No. 2014FJ1004）

电驱动海洋绞车主动升沉补偿自抗扰控制系统

廖薇1;赵延明2;刘德顺1,3;金永平1，3

1.湖南科技大学机电工程学院，湘潭，411201
2.湖南科技大学信息与电气工程学院，湘潭，411201
3.湖南科技大学海洋矿产资源探采装备与安全技术国家地方联合工程实验室，湘潭，411201

基金资助:
国家自然科学基金资助项目（51705145）；
湖南省自然科学省市联合基金资助项目(2015JJ5029)；
湖南省科技重大专项(2014FJ1004)；
湖南科技大学博士科研启动基金资助项目（E54011）
National Natural Science Foundation of China （No. 51705145）
The Joint Funds of Hunan Provincial Natural Science Foundation of China （No. 2015JJ5029）
Hunan Provincial Science and Technology Major Project （No. 2014FJ1004）

Abstract

Abstract: According to the characteristics of nonlinear and time-varying of active heave compensation systems of electric driven marine winchs, an active heave compensation control system of electric driven marine winchs was proposed based on ADRC. First, the dynamics of the drive marine winch control systems was analyzed.Then, the mathematical model of the drive marine winch was carried out,then the active heave compensation active disturbance rejection control system simulation model was set up, and the simulation and analysis were carried out. The simulation of the system was carried out under the conditions of different sea states, different depths, different cable diameters and different loads, and compared with the PID controller. The results show that when the sea model parameters and model parameters of electric driven marine winch control systems change, ADRC controller may still maintain good dynamic performance . ADRC has faster response speed, stronger robustness and anti-interference ability than that of the PID controller.

Key words: electric driven winch, active heave compensation, active disturbance rejection control(ADRC), simulation analysis

摘要： 针对电驱动海洋绞车主动升沉补偿系统非线性时变的特点，提出了基于自抗扰控制（ADRC）的电驱动海洋绞车主动升沉补偿控制系统。首先对电驱动海洋绞车系统进行动力学分析，然后建立电驱动海洋绞车数学模型，进而建立主动升沉补偿自抗扰控制系统的仿真模型，并进行仿真分析。在不同海况、不同下放深度、不同缆绳直径和不同重物质量等情况下对该系统进行仿真，并与PID控制器进行比较，结果表明：当海况和电驱动海洋绞车控制系统模型参数发生变化时，控制器参数保持不变的情况下，自抗扰控制器仍然能保持良好的动态性能，比PID控制器具有更快的响应速度、更强的鲁棒性和抗干扰能力。

关键词: 电驱动绞车, 主动升沉补偿, 自抗扰控制, 仿真分析

CLC Number:

TH134

LIAO Wei1;ZHAO Yanming2;LIU Deshun1,3;JIN Yongping1,3. Active Heave Compensation Active Disturbance Rejection Control System of Electric Driven Marine Winchs[J]. China Mechanical Engineering.

廖薇1;赵延明2;刘德顺1,3;金永平1，3. 电驱动海洋绞车主动升沉补偿自抗扰控制系统[J]. 中国机械工程.

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Active Heave Compensation Active Disturbance Rejection Control System of Electric Driven Marine Winchs

电驱动海洋绞车主动升沉补偿自抗扰控制系统

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