上海交通大学学报

上海交通大学学报 ›› 2019, Vol. 53 ›› Issue (8): 990-999.doi: 10.16183/j.cnki.jsjtu.2019.08.015

• 学报（中文） • 上一篇    下一篇

新型布缆船拖曳绞车控制系统

陈琦,李格伦   

  1. 中国科学院沈阳自动化研究所 机器人学国家重点实验室， 沈阳 110016
  • 出版日期:2019-08-28 发布日期:2019-09-10
  • 通讯作者: 李格伦，男，助理研究员，电话(Tel.): 024-23970745; E-mail: ligelun@sia.cn.
  • 作者简介:陈琦(1983-)，男，辽宁省沈阳市人，副研究员，主要从事水下机器人设计、模糊控制等研究.
  • 基金资助:
    国家自然科学基金资助项目(51609236)

Towing Winch Control System for a New Cable Laying Ship

CHEN Qi,LI Gelun   

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
  • Online:2019-08-28 Published:2019-09-10

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摘要： 针对某新型布缆船拖曳绞车，设计了一种基于工业以太网和可编程逻辑控制器的拖曳绞车控制系统.为了提高拖曳绞车控制系统的智能化水平，开发了自动排缆系统和基于模糊自适应 P+ID算法的恒张力控制器.将基于模糊自适应P+ID算法和基于传统PID算法的恒张力控制器进行了比较，仿真结果证明了本文设计的模糊自适应P+ID控制器要优于PID控制器.恶劣海况下的实际应用证明了本文设计的自动排缆系统和恒张力控制器的高效性和鲁棒性.

关键词: 布缆船； 恒张力绞车； 工业以太网； 模糊自适应P+ID； PID控制器

Abstract: A towing winch control system based on industrial ethernet and programmable logic controller is designed for a new cable laying ship. An automatic cable arrangement system and a constant tension controller based on the fuzzy adaptive P+ID algorithm are proposed to improve the intelligence of the towing winch control system. The comparative studies of the proposed constant tension controller based on the fuzzy adaptive P+ID and conventional PID controllers were conducted, and the simulation results show that the fuzzy adaptive P+ID controller designed in this paper has a better performance than the PID controller. The real applications under harsh sea conditions demonstrated the robustness and effectiveness of the automatic cable arrangement system and the constant tension controller.

Key words: cable laying ship; constant tension winch; industrial ethernet; fuzzy adaptive P+ID; PID controller

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