深海采矿升沉补偿系统建模及其模糊控制仿真.pdfVIP

第 39 卷第 1 期 中南大学学报自然科学版( ) Vol.39 No.1 2008 年 2 月 J. Cent. South Univ. (Science and Technology) Feb. 2008 深海采矿升沉补偿系统建模及其模糊控制仿真 汤晓燕，刘少军，王 刚 ( 中南大学 机电工程学院，湖南 长沙，410083) 摘 要：根据中国大洋协会(COMRA)拟定的 1 000 m 大洋多金属结核中试采矿系统中升沉补偿子系统设计方案及 1 km 海试的状况，应用牛顿第二运动定律和 MATLAB 软件，创建了该系统的数学模型，对该数学模型进行模糊 控制仿真研究。仿真结果表明：1 km 海试总体设计中提出的双油缸主动控制升沉补偿系统可适应海试要求，在 4 级海况条件下，对系统实施模糊逻辑控制能得到满意的控制效果。但在复杂海况条件下，随着外扰频率逐渐增加， 系统的升沉补偿效果会不断下降，当外扰频率大于 0.7 Hz 时，主动式模糊控制几乎无减振效果。因此，建议在 0~0.7 Hz 范围内采用主动式模糊控制，而在外扰频率大于 0.7 Hz 范围内实施被动式升沉补偿。 关键词：建模；升沉补偿；模糊控制；仿真 中图分类号：TP391.9 文献标识码：A 文章编号：1672-7207(2008)01−0128−07 Modeling of heave compensation system for deep-ocean mining and its simulation of fuzzy logical control TANG Xiao-yan, LIU Shao-jun, WANG Gang (School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China) Abstract: According to the design scheme of a heave compensation subsystem proposed by the COMRA (China Ocean Mineral Resources Association) 1 000 m deep ocean poly-metallic nodule pilot mining system and the wave conditions of sea region of 1 km sea trial, a corresponding mathematics model of this system was built by using the Newton’s law and MATLAB software. The simulation study of a fuzzy control based on this model was conducted. The results show that this proposed active heave compensation system with two lift cylinders is suitable for 1 km sea trial. The satisfactory control effectiveness can be obtained in the simulation on the condition of sea state 4. However, the heave compensation effectiveness declines gradually with the increase of outs