The invention provides a scientific investigation ship winch heave compensation control method based on data driving, and belongs to the technical field of scientific investigation ship winch heave compensation control. The method comprises the following steps: setting a target depth of a load; establishing a state space expression of the composite heave compensation system; converting the nonlinear heave compensation system into a linearization data model based on an improved dynamic linearization method; aiming at the problems of parameter uncertainty and external load disturbance in a scientific investigation ship winch dragging process, a radial basis function neural network disturbance observer is adopted to estimate external load disturbance in a nonlinear term, and a scientific investigation ship winch heave compensation controller based on data driving is designed; by controlling the input current of the proportional reversing valve, the motion displacement of the winch is determined to compensate the depth change of the load. According to the method, input and output data of a heave compensation system are used for completing design of a controller, load position deviation caused by heave motion in the dragging process can be effectively compensated, and accurate tracking of the load target depth is achieved.
本发明提出了一种基于数据驱动的科考船绞车升沉补偿控制方法,属于科考船绞车升沉补偿控制技术领域。其步骤包括:设置负载的目标深度;建立复合式升沉补偿系统状态空间表达式;基于改进的动态线性化方法将非线性升沉补偿系统转化为线性化数据模型;针对科考船绞车拖拽过程中存在的参数不确定及外部负载扰动问题,采用径向基神经网络扰动观测器对非线性项中的外部负载扰动进行估计,设计基于数据驱动的科考船绞车升沉补偿控制器;通过控制比例换向阀的输入电流,确定绞车运动位移来补偿负载深度变化。该方法利用升沉补偿系统的输入输出数据完成控制器的设计,能够有效补偿拖拽过程中升沉运动造成的负载位置偏差,实现对负载目标深度的精确跟踪。
Scientific investigation ship winch heave compensation control method based on data driving
一种基于数据驱动的科考船绞车升沉补偿控制方法
2024-01-05
Patent
Electronic Resource
Chinese
IPC: | B66D Haspeln , CAPSTANS |
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|ROTARY HYDRAULIC WINCH TYPE HEAVE MOTION COMPENSATION SYSTEM
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