水下拖曳升沉补偿系统设计及其内模鲁棒控制王海波.pdf

第 46 卷第 8 期 机 械 工 程 学 报 Vol.46 No.8 2010 年 4 月 JOURNAL OF MECHANICAL ENGINEERING Apr. 2010 DOI ：10.3901/JME.2010.08.128 水下拖曳升沉补偿系统设计及其内模鲁棒控制* 王海波 王庆丰 (浙江大学流体传动及控制国家重点实验室 杭州 310027) 摘要：为补偿拖船升沉运动对拖体深度的影响并提高深度补偿精度，设计基于进油节流、回油节流切换控制的水下拖曳升沉 补偿电液控制系统。提出具有外层升沉补偿控制子系统和内层位置伺服控制子系统双层结构的升沉补偿控制系统总体设计方 案，其中外层子系统采集拖体深度，升沉补偿控制器输出拖缆绞车运动目标角位移，内层子系统在时变拖缆张力力矩干扰下 实现对目标角位移的快速、无静差跟踪。针对内层控制子系统的被控对象—— 电液控制系统存在建模误差和参数摄动并承受 时变拖缆张力力矩干扰的特点，应用内模控制策略完成了内层内模鲁棒控制器的设计。仿真和试验研究表明，内层位置伺服 控制子系统抗干扰能力强，对系统建模精度要求低，参数整定方便，具有良好的动态性能。 关键词：水下拖曳系统 升沉补偿 内模控制 中图分类号：TH137 Design and Internal Model Robust Control of Underwater Towed Heave Compensation System WANG Haibo WANG Qingfeng (The State Key Lab of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027) Abstract ：The electro-hydraulic control system based on switching control between meter in and meter out for the underwater towed heave compensation system is designed in order to compensate bad influence of the towed ship heave motion on the towed body depth and improve depth compensating accuracy. The general design scheme of heave compensation control system composed of external depth heave compensation control subsystem and inner position servo-control subsystem for the towed heave compensation system is proposed. The external subsystem measures the towed body depth and outputs target angular displacement of the towing winch, furthermore, the inner subsystem quickly tracks the target angular displacement without steady-state error under time-varying tension moment disturbance of the cable. Against inner subsystem features that mathematic model of the electro-hydraulic control system is built with error and parameters perturbation a