General Project of Natural Science Foundation for Basic and Applied Basic Research of Guangdong Province (2021A1515012552), National Key Research and Development Program (2017YF123900)
针对海工装备上人员与物资安全转运的工程需求，该文对六自由度主动波浪补偿系统中的关键 技术展开研究，设计了一个完整的主动波浪补偿系统，包括运动测量系统、控制系统和执行机构。运动 测量系统采用 MTi 惯性传感器，结合自适应高通滤波器进行船舶运动检测，同时采用双目视觉系统检 测补偿平台末端运动，并基于卷积神经网络实现两类传感器数据的融合。控制系统采用基于神经网络进 行参数整定的自抗扰控制器，可以实现良好的快速响应特性、控制误差补偿和抗干扰特性。执行机构采 用基于液压驱动的 Stewart 平台。通过 MATLAB/Simulink 和 AMESim 平台建立了机、电、液联合仿真模 型，并对所设计平台的先进性和可行性进行了仿真验证。
To realize safely transportation of the personnel and materials on the marine equipment, a 6-DOF active wave compensation device are researched and analyzed in this work. A complete active wave compensation system is designed, which includes the motion measurement system, control system and the actuator. In the motion measurement system, an adaptive MTi inertial sensors was adopted. And the highpass filter was applied for the measurement of ship motion compensation. In addition, a binocular vision system was designed to inspect the motion of platform at the end. And the convolution neural network was applied to realize the fusion of multiple sensors. The controlling system adopted an active disturbance rejection controller which was adjusted by the neural network to obtain fast response, accurate compensation and anti-interference performance. Actuators based on hydraulically-driven Stewart platform. The MATLAB/Simulink and AMESim were used to establish the co-simulation model of machine, electricity and liquid firstly. Then, performance of the proposed system were analyzed and discussed with a comparison with existing techniques.
杨文林,周小琦,吕浩亮,张 弓,侯至丞,王卫军.六自由度主动波浪补偿装置测控系统设计与仿真 [J].集成技术,2021,10(2):50-62
YANG Wenlin, ZHOU Xiaoqi, LV Haoliang, ZHANG Gong, HOU Zhicheng, WANG Weijun. Design and Co-simulation of Measurement and Control System of 6 DOF Active Wave Compensation Device[J]. Journal of Integration Technology,2021,10(2):50-62