自組織模糊滑動控制應用於液壓主動式垂向吊裝補償系統之研究

Self-Organizing Fuzzy Sliding Mode Control for Hydraulic Active Heave Compensation System

陳識傑(Shih-Jie Chen)

指導教授 ： 江茂雄

國立臺灣大學/工學院/工程科學及海洋工程學系/碩士(2022年)

https://doi.org/10.6342/NTU202200823

摘要

本論文旨貢獻於國內海事工程之發展並適用於台灣離岸風場施工產業，主動式垂向吊裝補償可藉由驅動絞機控制系統以達到抵銷海浪造成吊掛物之垂向晃動，並且穩定海上施工作業。本研究涵蓋實驗機構建立、運動學分析、液壓絞機系統之動態分析以及控制器設計，並透過模擬與實驗進行評估不同控制器之響應以及驗證垂向補償之效果。
在模擬方面，將最初設計好的主動式垂向吊裝補償系統之機構模型結合運動平台匯入機構動態模擬軟體(ADAMS)以建模，此外，運動學與液壓動態模型將透過MATLAB/SIMULINK實現，並在系統建立後最關鍵之控制器設計部分，本研究首先運用模糊滑動模式控制器，並結合自組織法則提出自組織模糊滑動模式控制器，而最後透過整合模擬來對各項設計成果進行驗證。
而實驗方面，使用目前實驗室現有的液壓三軸運動平台並在上面安裝主動式垂向吊裝補償系統，透過整合兩顆運動慣性量測單元來建立閉迴路絞機控制系統並盡可能地貼近真實主動式垂向吊裝補償系統。藉由提供不同測試波浪環境給運動平台產生相對應之運動，得以實現本研究所提出之主動式垂向吊裝補償系統在MATLAB/SIMULINK Desktop Real-Time 介面下驗證不同控制器在海浪作用下之垂向補償之成果。

關鍵字

主動式垂向吊裝補償系統 ； 液壓伺服系統 ； 自組織模糊滑動控制器 ； 模糊滑動控制器 ； 動態模擬 ； 實驗原型

並列摘要

This thesis is dedicated to the development of domestic marine engineering which adapt to the Taiwan industry of offshore wind farm. Though the winch control system, the active heave compensation (AHC) can mainly decouple the vertical motion on the carrying payload and stabilize for the offshore construction work. The research of AHC obtain the mechanism establish, kinematics analysis, dynamic analysis of hydraulic winch system and controller design. After that, the simulation and experiment will evaluate the performance of different controller and verify the effect of compensation in vertical direction.
In simulation, the designed prototype of AHC integration with motion platform will initially import to the automatic dynamic analysis of mechanical system (ADAMS) to build the dynamic mechanism. Besides, the kinematic and hydraulic dynamic model are realized by MATLAB/SIMULINK. With the system establish, the next vital part is a proper controller. The fuzzy sliding mode controller (FSMC) is applied in it. And even more, combine with self-organizing rule to propose the self-organizing fuzzy sliding mode controller (SOFSMC). Finally conduct the co-simulation between ADAMS and MATLAB/SIMULINK to verify each design result.
As in experiment, the AHC integration installed on a 3-axis motion platform. The closed-loop winch control system will assemble by two motion sensors for reaching the real AHC system as much as possible. There is different wave condition for motion platform to generate and verify the AHC system effect of compensation with various controller in the interface of MATLAB/SIMULINK Desktop Real-Time.

並列關鍵字

active heave compensation ； hydraulic servo system ； self-organizing fuzzy sliding mode control ； fuzzy sliding mode control ； dynamic simulation ； experiment

參考文獻

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