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为了解决海上作业所需专用起重机的波浪补偿控制问题,开展了主动式波浪补偿控制器的相关研究。首先对主动式波浪补偿原理进行了介绍,而后分析了主动式波浪补偿控制系统的结构,接下来,设计了基于模糊自适应PID的补偿控制算法,最后通过陆上半实物仿真试验,证明该方法是一种可用于后续主动式波浪补偿起重机原理样机开发的有效方法。
In order to solve the problem of wave compensation control of special cranes required for offshore operations, a related research on active wave compensation controller is carried out. Firstly, the principle of active wave compensation is introduced, and then the structure of active wave compensation control system is analyzed. Then, a compensation control algorithm based on fuzzy adaptive PID is designed. Finally, the semi-physical simulation on land shows that this method Is an effective method that can be used to develop prototype prototypes for follow-up active wave compensation cranes.