模糊控制在深海采矿升沉补偿模拟系统中的应用研究
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摘要
随着陆地资源的耗竭，人们将目光投向浩瀚的海洋，水力提升式深海多金属锰结核采矿技术作为一种前沿的技术在深海采矿中得到广泛应用，在采矿过程中，由于受海洋风、浪、流、潮的影响，采矿船不可避免地在重力方向上产生显著的升沉运动。如果扬矿管和采矿船之间是刚性连接，在外载荷作用下扬矿管产生拉伸和弯曲变形，为了提高扬矿管的稳定性、可靠性和使用寿命以及整个扬矿系统的工作效率和经济性。需在扬矿管的上部与采矿船之间安装一套扬矿管升沉补偿系统，以保持深海采矿作业能正常进行。安装扬矿管升沉补偿系统的目的就是当采矿船随波浪升沉时，使扬矿管尽可能地保持静止不动，使得扬矿管的交变轴向应力和轴向变形尽可能地小。本文针对传统补偿技术的缺点，提出一种新型的主动式电液伺服补偿系统，该系统的成功研制为我国在锁定的太平洋海域的深海采矿提供技术储备。
实验系统主要由工控机、比例阀、光栅位移传感器、数据采集卡和D／A卡组成，它们是本系统实现的硬件基础。本系统采用VB作为开发工具，将它有效地和VC、MATLAB、ACCESS等软件有机结合起来，采用动态链接库和ActiveX技术开发出一套测控软件，完成实时控制、图形显示、数据保存以及数据处理等功能，该软件采用模块化结构，具有可扩展性和可修改性。系统界面简单实用、美观大方。
针对液压系统时变、非线性、数学模型不易确认的特点，提出了模糊控制的思想，该系统采用三种主要的控制策略，即模糊控制、模糊自整定PID控制和模糊PID复合控制，仿真和实验结果表明，它们均比经典PID控制具有良好的鲁棒性。在控制中显示出良好的效果。其中，模糊PID复合控制更为优越和实用。
在今后的实验中，需要研制出更加先进的智能控制算法，例如神经网络控制、专家控制等来完善系统的控制策略。将补偿精度提高到一个新的水平。同时，需要采集采矿船的在复杂海况下的实测信号作为模拟海况信号验证控制算法的鲁棒性和自适应能力。
With the exhaust of the resource in mainland, people draw their attention to the expans i on sea, the hydraulie lift mining system is widely used as a new technology in the deep sea polymetallic manganese nodules mining, during the mining period, owning to the impact of the wind, wave, flow, tide, the mining ship produce the heave motion along the gravity direction inevitably. If the connection between the mining ship and lifting mining pipeline is rigid.The lifting mining pipeline will produce tension and bend distortion. In order to raise the stability , dependability, using life, efficiency and economy. We need to install a set of compensation equipment between upper of the lifting mining pipeline and the mining ship in order to maintain the normal deep sea mining process. The aim of the installation of the lifting mining pipeline heave compensation system is to maintain the quiescence of the mining ship when the lifting mining pipeline heave with the wave and minimize the changing axis stress and distort
ion possibly. This paper aimed at the shortcoming of traditional compensation technology and put forward a new type of an active electro-hydraulic servo compensation system. The successful develop of this system provide the technology accumulate for the deep mining in the Sea area for our country.
The experiment system is composed of industry computer, proportional valve, grating displacement sensor, data acquisition card and D/A card. They are the hardware realization foundation. We apply VB as development tools and combined with VC,MIATLAB,ACCESS validly. We apply the DLL and ActiveX technology to realize the function of real-time control, graphic display, data save and data process etc.The software adopts the module construction which is expansible and revisable. The interface of the system is simple, practical and perfect.
Owing to the time changing, non-linear, uncertain mathematics model of the
hydraulic system. We bring forward fuzzy control idea. The system adopt three ma i n contro I method i nc I ud i ng fuzzy control, fuzzy self-adj ustment PID contro I , fuzzy PID hybrid controI. The exper i ment resu11 approve that they have good robust character compared with traditional PID control. The fuzzy PID hybrid control is superior and practical among them.
During the following experiment, we are urgent to develop a type of more advanced contro I method , for examp I e , the NN contro I , expert contro I to perfect the control way of the system and elevate the compensate precision to a new standard. At the same time, we need to collect the actual signal of mining ship under the complex sea status as the simulate signal to test the robust and self-adaptive ability of the control method.
实验系统主要由工控机、比例阀、光栅位移传感器、数据采集卡和D／A卡组成，它们是本系统实现的硬件基础。本系统采用VB作为开发工具，将它有效地和VC、MATLAB、ACCESS等软件有机结合起来，采用动态链接库和ActiveX技术开发出一套测控软件，完成实时控制、图形显示、数据保存以及数据处理等功能，该软件采用模块化结构，具有可扩展性和可修改性。系统界面简单实用、美观大方。
针对液压系统时变、非线性、数学模型不易确认的特点，提出了模糊控制的思想，该系统采用三种主要的控制策略，即模糊控制、模糊自整定PID控制和模糊PID复合控制，仿真和实验结果表明，它们均比经典PID控制具有良好的鲁棒性。在控制中显示出良好的效果。其中，模糊PID复合控制更为优越和实用。
在今后的实验中，需要研制出更加先进的智能控制算法，例如神经网络控制、专家控制等来完善系统的控制策略。将补偿精度提高到一个新的水平。同时，需要采集采矿船的在复杂海况下的实测信号作为模拟海况信号验证控制算法的鲁棒性和自适应能力。
With the exhaust of the resource in mainland, people draw their attention to the expans i on sea, the hydraulie lift mining system is widely used as a new technology in the deep sea polymetallic manganese nodules mining, during the mining period, owning to the impact of the wind, wave, flow, tide, the mining ship produce the heave motion along the gravity direction inevitably. If the connection between the mining ship and lifting mining pipeline is rigid.The lifting mining pipeline will produce tension and bend distortion. In order to raise the stability , dependability, using life, efficiency and economy. We need to install a set of compensation equipment between upper of the lifting mining pipeline and the mining ship in order to maintain the normal deep sea mining process. The aim of the installation of the lifting mining pipeline heave compensation system is to maintain the quiescence of the mining ship when the lifting mining pipeline heave with the wave and minimize the changing axis stress and distort
ion possibly. This paper aimed at the shortcoming of traditional compensation technology and put forward a new type of an active electro-hydraulic servo compensation system. The successful develop of this system provide the technology accumulate for the deep mining in the Sea area for our country.
The experiment system is composed of industry computer, proportional valve, grating displacement sensor, data acquisition card and D/A card. They are the hardware realization foundation. We apply VB as development tools and combined with VC,MIATLAB,ACCESS validly. We apply the DLL and ActiveX technology to realize the function of real-time control, graphic display, data save and data process etc.The software adopts the module construction which is expansible and revisable. The interface of the system is simple, practical and perfect.
Owing to the time changing, non-linear, uncertain mathematics model of the
hydraulic system. We bring forward fuzzy control idea. The system adopt three ma i n contro I method i nc I ud i ng fuzzy control, fuzzy self-adj ustment PID contro I , fuzzy PID hybrid controI. The exper i ment resu11 approve that they have good robust character compared with traditional PID control. The fuzzy PID hybrid control is superior and practical among them.
During the following experiment, we are urgent to develop a type of more advanced contro I method , for examp I e , the NN contro I , expert contro I to perfect the control way of the system and elevate the compensate precision to a new standard. At the same time, we need to collect the actual signal of mining ship under the complex sea status as the simulate signal to test the robust and self-adaptive ability of the control method.
引文
[1]S. Bhandari, Fellow, A. K Chaudhary. Mining Technology for Seabed Minerals
[2]谢龙水．深海水力提升式采矿系统的研究．中国矿业，1995年7月第四卷，总第20期：27～29
[3]Feng Yali, Zhang Wenming, Li Haoran. Design of Deep Seabed Mining System.北京工业大学学报，2000年3月第26卷，第1期：92～93
[4]谢龙水．当代深海采矿技术及我国的发展战略．世界采矿快报．1012
[5]冯雅丽，张云仙，李浩然．5000m扬矿管的纵向振动．金属矿山，1999年第四期，13～15
[6]余永权．神经网络模糊逻辑控制．北京：电子工业出版社，1999．7～9
[7]陶永华．尹怡欣．新型PID控制及其应用．北京：机械工业出版社．1998．69～75
[8]吴百海，肖体兵．深海采矿装置的自动升沉补偿系统的模拟研究．机械工程学报，2003年7月，第39卷第7期，128～129
[9]Vadim S, Tikhonov. Viadimir K.Zubarev. Simulation of Nonlinear Vibration of an Elevating Pipeline in: Moscow Aviation Institute offshore technology conference
[10]Gang Cui, Kazuo. The Optimum Design of a Stepped Pipe String With Vibration Absorbers for Mining Manganese Nodules in the Deep Sea with Consideration of Maximum Axial Stress
[11]R.Kaufman, J.P.Latimer. The Design and Operation of a Pacific Ocean Deep～Ocean Mining Test Ship in: The annual offshore technology conference 1985 proceedings. Vol 2. Houston,Texas. 1885 May. 6～9
[12]PCL-726 User's Manual. ADVANTECH. 6～8
[13]王跃强，王纪龙，王云才．VB程序中实现调用MATLAB的方法．计算机应用，2001年2月：95～96
[14]马杰，田金文，彭复员．海浪的数值模拟及其仿真．华中理工大学学报，2000年4月，第28卷第4期：64～65
[15]付新明．基于VisualBasic的挤出机多通道温度模糊-解耦控制研究．华南理工大学工
学硕士学位论文，2001年6月：49～52
[16]文小琴，赵志诚，孙志毅．VB与MATLAB的动态数据交换及其应用．控制工程．2002廿月，第9卷第5期：89～90
[17]杨怀平，孙家广．基于海浪谱的波浪模拟．系统仿真学报．2002年9月．第14卷第9期：1176～1177
[18]K.Zare, T.k Datta.Dynamic Response of Lazy-S in Random Sea, Indian inst of Technology～delhi offshore technology conference
[19]毛义梅．一种PID参数模糊自整定控制器的设计与仿真．自动化与仪表．2001，第16卷第3期：37～38
[20]高宏伟，赵宝永．模糊自整定PID控制策略的MATLAB仿真研究．电气传动自动化，2002年10月，第五期：25～28
[21]王立新．自适应模糊系统与控制．北京：国防工业出版社，1995．120～123
[22]何平，王鸿绪．模糊控制器的设计及应用．北京：科学出版社，1997．4～7
[23]刘曙光，魏俊民．模糊控制技术．北京：中国纺织出版社，2001．14～17
[24]张化光，何希勤．模糊自适应理论及其控制．北京：北京航空航天大学出版社，2002．173～174
[25]李应顺，伦淑娴．模糊PID温度测控仪．仪表技术与传感器，2003年，第1期：20～22
[26]刘金琨．先进PID控制及其MATLAB仿真．北京：电子工业出版社，2003．1～3
[27]Hyun-Joon Cho, Kwang-Bo Cho,Bo-Hyeun Wang, Fuzzy PID hybrid control:Automatic rule generation using genetic algorithms. Fuzzy Sets and Systems, 92(1997)308
[28]H.T.Zhu, Z.Y.Jiang, A.K.Tieu, G.D.Wang. A fuzzy algorithm for flatness control in hot strip mill. Materials Processing Technology: 127～128
[29]Kenichiro Hayashi,Akifumi Otsubo. Simulator for studies of fuzzy control methods. Fuzzy sets and System, 93(1998) 137
[30]罗忠辉，吴百海．一种新型深海采矿船升沉信号采集系统设计．仪表技术与传感器，2003年9月：20～23
[31]Kazuo Aso, Katsushige Kan, 301. A Method for Semi-Active Control of the Longitudinal Vibration of Pipe String for Mining Manganese Nodules. Processing of the Fourth(1994)
International Offshore and Polar Engineering Conference
[32]Wu Baihai, Xiao Tibing. Reserch on Electro-Hydraulic Servo for Reference Frame of Stable Depth Submersed in Sea. Proceedings of The Forth International Symposium on Fluid Power Transmission and Control(ISFP'2003). 69～70
[33]郭晶，杨章玉．MATLAB6.5辅助神经网络分析与设计．北京：电子工业出版社，飞思科技产品研发中心，2003．3～4
[34]陈平．VISUAL C++6.0实例教程．上海：浦东电子出版社，2000．417～424
[35]诸静．模糊控制原理与应用．北京：机械工业出版社，1995．371～372
[36]孙增圻．智能控制理论与技术．北京：清华大学出版社，2000．63～64
[37]肖体兵，吴百海．升沉补偿模拟实验系统的设计与实验研究．机床与液压，2003年第四期：37～38
[38]肖体兵．深海采矿装置智能升沉补偿系统的研究．广东工业大学工学博士学位论文，2004年4月：35～36
[2]谢龙水．深海水力提升式采矿系统的研究．中国矿业，1995年7月第四卷，总第20期：27～29
[3]Feng Yali, Zhang Wenming, Li Haoran. Design of Deep Seabed Mining System.北京工业大学学报，2000年3月第26卷，第1期：92～93
[4]谢龙水．当代深海采矿技术及我国的发展战略．世界采矿快报．1012
[5]冯雅丽，张云仙，李浩然．5000m扬矿管的纵向振动．金属矿山，1999年第四期，13～15
[6]余永权．神经网络模糊逻辑控制．北京：电子工业出版社，1999．7～9
[7]陶永华．尹怡欣．新型PID控制及其应用．北京：机械工业出版社．1998．69～75
[8]吴百海，肖体兵．深海采矿装置的自动升沉补偿系统的模拟研究．机械工程学报，2003年7月，第39卷第7期，128～129
[9]Vadim S, Tikhonov. Viadimir K.Zubarev. Simulation of Nonlinear Vibration of an Elevating Pipeline in: Moscow Aviation Institute offshore technology conference
[10]Gang Cui, Kazuo. The Optimum Design of a Stepped Pipe String With Vibration Absorbers for Mining Manganese Nodules in the Deep Sea with Consideration of Maximum Axial Stress
[11]R.Kaufman, J.P.Latimer. The Design and Operation of a Pacific Ocean Deep～Ocean Mining Test Ship in: The annual offshore technology conference 1985 proceedings. Vol 2. Houston,Texas. 1885 May. 6～9
[12]PCL-726 User's Manual. ADVANTECH. 6～8
[13]王跃强，王纪龙，王云才．VB程序中实现调用MATLAB的方法．计算机应用，2001年2月：95～96
[14]马杰，田金文，彭复员．海浪的数值模拟及其仿真．华中理工大学学报，2000年4月，第28卷第4期：64～65
[15]付新明．基于VisualBasic的挤出机多通道温度模糊-解耦控制研究．华南理工大学工
学硕士学位论文，2001年6月：49～52
[16]文小琴，赵志诚，孙志毅．VB与MATLAB的动态数据交换及其应用．控制工程．2002廿月，第9卷第5期：89～90
[17]杨怀平，孙家广．基于海浪谱的波浪模拟．系统仿真学报．2002年9月．第14卷第9期：1176～1177
[18]K.Zare, T.k Datta.Dynamic Response of Lazy-S in Random Sea, Indian inst of Technology～delhi offshore technology conference
[19]毛义梅．一种PID参数模糊自整定控制器的设计与仿真．自动化与仪表．2001，第16卷第3期：37～38
[20]高宏伟，赵宝永．模糊自整定PID控制策略的MATLAB仿真研究．电气传动自动化，2002年10月，第五期：25～28
[21]王立新．自适应模糊系统与控制．北京：国防工业出版社，1995．120～123
[22]何平，王鸿绪．模糊控制器的设计及应用．北京：科学出版社，1997．4～7
[23]刘曙光，魏俊民．模糊控制技术．北京：中国纺织出版社，2001．14～17
[24]张化光，何希勤．模糊自适应理论及其控制．北京：北京航空航天大学出版社，2002．173～174
[25]李应顺，伦淑娴．模糊PID温度测控仪．仪表技术与传感器，2003年，第1期：20～22
[26]刘金琨．先进PID控制及其MATLAB仿真．北京：电子工业出版社，2003．1～3
[27]Hyun-Joon Cho, Kwang-Bo Cho,Bo-Hyeun Wang, Fuzzy PID hybrid control:Automatic rule generation using genetic algorithms. Fuzzy Sets and Systems, 92(1997)308
[28]H.T.Zhu, Z.Y.Jiang, A.K.Tieu, G.D.Wang. A fuzzy algorithm for flatness control in hot strip mill. Materials Processing Technology: 127～128
[29]Kenichiro Hayashi,Akifumi Otsubo. Simulator for studies of fuzzy control methods. Fuzzy sets and System, 93(1998) 137
[30]罗忠辉，吴百海．一种新型深海采矿船升沉信号采集系统设计．仪表技术与传感器，2003年9月：20～23
[31]Kazuo Aso, Katsushige Kan, 301. A Method for Semi-Active Control of the Longitudinal Vibration of Pipe String for Mining Manganese Nodules. Processing of the Fourth(1994)
International Offshore and Polar Engineering Conference
[32]Wu Baihai, Xiao Tibing. Reserch on Electro-Hydraulic Servo for Reference Frame of Stable Depth Submersed in Sea. Proceedings of The Forth International Symposium on Fluid Power Transmission and Control(ISFP'2003). 69～70
[33]郭晶，杨章玉．MATLAB6.5辅助神经网络分析与设计．北京：电子工业出版社，飞思科技产品研发中心，2003．3～4
[34]陈平．VISUAL C++6.0实例教程．上海：浦东电子出版社，2000．417～424
[35]诸静．模糊控制原理与应用．北京：机械工业出版社，1995．371～372
[36]孙增圻．智能控制理论与技术．北京：清华大学出版社，2000．63～64
[37]肖体兵，吴百海．升沉补偿模拟实验系统的设计与实验研究．机床与液压，2003年第四期：37～38
[38]肖体兵．深海采矿装置智能升沉补偿系统的研究．广东工业大学工学博士学位论文，2004年4月：35～36