FPID-RCP: A Control Method for a Swing-Type Wave Compensation Platform System

IF 2.7 3区地球科学 Q1 ENGINEERING, MARINE Journal of Marine Science and Engineering Pub Date : 2024-08-12 DOI:10.3390/jmse12081376

Gang Tang, Haibo Zhang, Yongli Hu, Peipei Zhou

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Abstract

With the rapid development of marine engineering in recent years, offshore operations have become increasingly common, making wave compensation platforms crucial for safe operations at sea. This paper presents a pendulum-type wave compensation platform specifically designed for wave compensation applications. The main components of this wave compensation platform include a chassis, support base, hydraulic cylinders, telescopic rods, upper platform, three sets of balancing mechanisms, three sets of tilt angle sensors, and a control system. Firstly, to thoroughly understand the compensatory motion of the pendulum-type three-degree-of-freedom wave compensation platform, kinematic analysis of the entire system was conducted, and the motion inverse solution curves of the mechanism were obtained through simulation using motion simulation software. Secondly, to enhance the compensatory response performance of the platform, a fuzzy PID control algorithm was employed to control the system and achieve attitude control of the platform. Finally, through control system simulation, compared to PID control, fuzzy PID reduces system response delay and successfully meets the expected technical requirements and application needs.

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FPID-RCP：摇摆式波浪补偿平台系统的控制方法

近年来，随着海洋工程的快速发展，海上作业越来越普遍，因此波浪补偿平台对海上安全作业至关重要。本文介绍了一种专为波浪补偿应用而设计的摆式波浪补偿平台。该波浪补偿平台的主要部件包括底盘、支撑底座、液压缸、伸缩杆、上平台、三套平衡机构、三套倾角传感器和控制系统。首先，为深入了解摆式三自由度波浪补偿平台的补偿运动，对整个系统进行了运动学分析，并利用运动仿真软件通过仿真得到了机构的运动逆解曲线。其次，为提高平台的补偿响应性能，采用模糊 PID 控制算法对系统进行控制，实现了平台的姿态控制。最后，通过控制系统仿真，与 PID 控制相比，模糊 PID 降低了系统响应延迟，成功满足了预期的技术要求和应用需求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Marine Science and Engineering Engineering-Ocean Engineering

CiteScore

4.40

自引率

20.70%

发文量

1640

审稿时长

18.09 days

期刊介绍： Journal of Marine Science and Engineering (JMSE; ISSN 2077-1312) is an international, peer-reviewed open access journal which provides an advanced forum for studies related to marine science and engineering. It publishes reviews, research papers and communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced. Electronic files and software regarding the full details of the calculation or experimental procedure, if unable to be published in a normal way, can be deposited as supplementary electronic material.