基于模糊逻辑系统的采矿船升沉补偿控制方法研究

在对海洋资源进行开采的过程中，采矿船是必不可少的一种海工装备，当采矿船在海上作业时，由于海浪的涌动会使采矿船作升沉运动，从而严重影响水下作业的采矿系统。为了减少升沉运动产生的影响，因此需要对采矿船进行升沉补偿，提出了一种基于液压缸的主被动一体式复合型升沉补偿系统。同时为了进一步减少升沉干扰下的补偿误差以提高控制精度，提出了一种基于Mamdani型的模糊比例积分微分(proportion integral derivative, PID)控制策略。首先对升沉补偿的原理进行介绍，随后基于莫尔经验公式推导出在不同海况下采矿船的升沉幅值的数值曲线，并建立所提升沉补偿系统的数学模型和传递函数，最后用所提的模糊控制算法对升沉补偿系统进行控制。分别在规则海浪波和不规则海浪波下对系统进行仿真，并把模糊PID控制策略的效果和传统PID控制策略的效果进行比较。结果表明：在两种海浪波下，模糊控制策略的精度要优于传统PID控制策略的精度，可证明模糊控制算法有着明显的优势。

Research on mining ship heave compensation control method based on fuzzy logic system

Mining ship is an essential Marine equipment in the exploitation of Marine resources. In order to reduce the heave motion, it is necessary to compensate the mining ship for heave compensation. A composite active and passive integrated heave compensation system based on composite hydraulic cylinder is proposed. In order to improve the control accuracy, an active compensation control strategy based on Mamdani fuzzy PID is proposed to reduce the compensation error under heave interference. Firstly, the heave compensation principle was introduced, and the calculation process of ship"s heave amplitude under different sea conditions was deduced based on Mohr"s empirical formula, then the promotion heavy compensation mathematic model and transfer function of the system were established, finally the proposed fuzzy control algorithm was used to control the system under the regular ocean wave and irregular wave and compare with the traditional PID control effect. The results show that under the two kinds of ocean wave, the error of the fuzzy control algorithm is less than the error of the traditional PID control algorithm, It can be seen that fuzzy control algorithm has obvious advantages.