具有行程约束和较大时滞的深海重型拖曳主被动升沉补偿器位移/张力复合控制

Heave compensator can effectively buffer the heave movement of towed body, preventing the load from the influence of vessel due to the wave's effect, which is necessary to ensure the normal operation for the deep-sea heavy towing system. The time delay caused by the sensors and actuators, limitation of the maximum compensation stroke, and the switching between different working modes have always been the thorny problems. In this study, a compound controller with heave prediction is theoretically studied and experimentally verified, with the aim of improving the accuracy and stability of the heavy towing hybrid active/passive heave compensation (HAHC) system with parameter saturation and system lag. In order to compensate the system’s time delay, a prediction algorithm is proposed based on Fast Fourier transform, active disturbance rejection state observer as well as the parameter adaptive law. An adaptive extended disturbance observer based motion and tension compound control strategy is constructed to resolve the stroke’s saturation, external perturbations and the parameter uncertainties. Besides, a multi-objective control algorithm is presented to take consideration of the sea conditions and motion/tension compensating performance simultaneously, in which some important investigations such as parameter identification, prediction control algorithm and multi-objective controller will be involved in this project. In order to suppress the impact force due to the unexpected load variations, the target impedance parameter switching strategy is proposed, and the optimal switching criteria is deduced to dissipate the impact energy of the system with the steepest descent. A compound motion and tension controller combines the multi-object control and the target sea condition switching strategy, while a seamless transfer controller is to achieve the switching of compensation modes. Therefore, the proposed compound control strategy can improve the active load compliance in tough sea conditions and suppress the impact force during compensation mode switch resulting from the parameter saturation. The research achievements can provide helpful guidance for developing the electro-hydraulic heavy towed hybrid compensation system with limited stroke and system lag.

波浪补偿器可有效补偿恶劣海况下海上拖曳系统的升沉位移及缆绳张力，是保证其正常工作的必要设备。应用于声纳等重型拖曳装备的主被动升沉补偿器，系统时滞、补偿行程受限、补偿模式切换是研究难点。项目以提高主被动升沉补偿系统的补偿精度及稳定性为目标，开展波浪预测及位移/张力复合控制策略研究。针对系统时滞问题，综合运用参数辨识、扩展卡尔曼滤波、参数自适应等理论，提出便于工程应用的高精度波浪预测算法；针对补偿行程受限、系统时变参数不确定性及不确定性拖曳负载，提出基于扩展状态观测器的非线性位移/张力多目标补偿控制策略。在上述研究的基础上，提出基于预测控制、多目标控制和目标模式海况顺应性切换控制相结合的复合控制策略，设计无缝切换控制器，解决补偿行程受限时多补偿模式目标海况平稳切换问题。项目的研究可提高具有行程约束和较大系统时滞的主被动升沉补偿器的补偿精度和系统稳定性，为其控制系统的设计提供重要的基础理论支持。

波浪补偿器可有效补偿恶劣海况下海上拖曳系统的升沉位移及缆绳张力，是保证其正常工作的必要设备。应用于声纳等重型拖曳装备的主被动升沉补偿器，系统时滞、补偿行程受限、补偿模式切换是研究难点。项目以提高主被动升沉补偿系统的补偿精度及稳定性为目标，开展了波浪预测及位移/张力复合控制策略研究。针对系统时滞问题，综合运用参数辨识、扩展卡尔曼滤波、参数自适应等理论，提出了便于工程应用的高精度波浪预测算法；针对补偿行程受限、系统时变参数不确定性及不确定性拖曳负载，提出了基于扩展状态观测器的非线性位移/张力多目标补偿控制策略。在上述研究的基础上，提出了基于预测控制、多目标控制和目标模式海况顺应性切换控制相结合的复合控制策略，设计了无缝切换控制器，解决补偿行程受限时多补偿模式目标海况平稳切换问题。研究成果可提高具有行程约束和较大系统时滞的主被动升沉补偿器的补偿精度和系统稳定性，为其控制系统的设计提供重要的基础理论支持。发表论文13篇，其中发表SCI8篇，发表EI2篇，硕士生毕业论文2篇，授权发明专利5项，科研奖励5项。