本发明涉及一种考虑杆长杆间约束的船载栈桥前馈模糊控制方法,旨在解决船载栈桥控制系统时滞性大、响应速度慢和模型不精确问题。其包括:考虑支链驱动杆杆长、杆间以及运动学参数约束进行建模,获取驱动杆模型与运动目标;根据驱动杆电动缸模型,设计基于船载栈桥的前馈控制律,根据目标位姿与实际位姿之差,根据模糊自适应控制,结合阻抗控制方法,控制驱动杆调整六个电动缸的输出力,使其驱动关节,从而保持平台和目标船相对位置恒定,实现船载栈桥稳定平台的波浪补偿运动。本发明考虑杆长杆间约束的船载栈桥前馈模糊控制方法,可以精确实现船载栈桥的波浪补偿,具有良好的稳定性与快速性。

    The invention relates to a shipborne trestle feedforward fuzzy control method considering constraints between rod lengths and rods, and aims at solving the problems that a shipborne trestle control system is large in time lag, low in response speed and inaccurate in model. The method comprises the steps that modeling is carried out by considering the rod length, inter-rod and kinematics parameter constraints of branch chain driving rods, and a driving rod model and a moving target are obtained; according to a driving rod electric cylinder model, a feedforward control law based on a shipborne trestle is designed, and according to the difference between a target pose and an actual pose, a driving rod is controlled to adjust the output force of six electric cylinders according to fuzzy self-adaptive control in combination with an impedance control method, so that the six electric cylinders drive joints, and thus the relative position of a platform and a target ship is kept constant; and the wave compensation motion of the shipborne trestle stabilizing platform is realized. According to the shipborne trestle feedforward fuzzy control method considering the constraint between the long rods and the rods, wave compensation of the shipborne trestle can be accurately achieved, and good stability and rapidity are achieved.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    一种考虑杆长杆间约束的船载栈桥前馈模糊控制方法


    Erscheinungsdatum :

    2024-05-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung