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Deep-sea mining water surface support cooperative control system based on generalized PID control

A deep-sea mining and collaborative control technology, which is applied in the direction of electric controllers, controllers with specific characteristics, clockwork mechanisms, etc., can solve problems such as poor effectiveness, slow calculation speed, and lack of effective Lupine control systems for water surface coordination , to achieve efficient collaborative control and improve robustness

Pending Publication Date: 2020-04-17
武汉船舶设计研究院有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a safe, reliable, robust deep-sea mining solution for complex sea conditions in view of the lack of an effective Lubang control system for water surface coordination, slow calculation speed, and poor effectiveness. The cooperative control system of the ship's water surface equipment effectively realizes the cooperative control of the water surface under the nonlinear motion state

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  • Deep-sea mining water surface support cooperative control system based on generalized PID control
  • Deep-sea mining water surface support cooperative control system based on generalized PID control
  • Deep-sea mining water surface support cooperative control system based on generalized PID control

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Embodiment Construction

[0015] combine figure 1 , figure 2 As shown, the water surface support cooperative control system for deep-sea mining based on the generalized PID control algorithm includes the A-frame system, the winch system and the host computer, and the A-frame system and the winch system are respectively equipped with their own generalized PID modules and PID controllers;

[0016] The generalized PID module is used to identify and adjust the parameters of the PID loop of the corresponding A shelf system and winch system, and then feed the parameters back to the corresponding PID controllers of the A shelf system and winch system;

[0017] The PID controller is used for feedback control of its corresponding A shelf system and winch system;

[0018] The upper computer is used for the sending end of data parameters, and realizes the parameter setting of the PID controller of the A shelf system and the winch system and the input of the current disturbance.

[0019] The generalized PID mod...

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Abstract

The invention discloses a generalized PID control algorithm-based mining ship water surface support cooperative control system. The system comprises an A frame subsystem, a winch system and an upper computer, and is characterized in that the A frame subsystem and the winch system are respectively provided with a generalized PID module and a PID controller. The system is characterized in that parameter setting of PID (Proportion Integration Differentiation) loops of each cable is performed by adopting generalized predictive control (GPC) under the control of each subsystem; mining vehicle laying control and cooperative control over all winches and the A frame are achieved, that underwater systems such as a mine collecting vehicle, a middle bin and a lifting pump dive stably is guaranteed, robustness of the system is effectively improved under the complex sea area condition, and then efficient cooperation of all subsystems of a mining ship in the constant tension mode is guaranteed.

Description

technical field [0001] The invention relates to the technical field of marine mining engineering, in particular to a water surface support cooperative control system suitable for mining platforms. Background technique [0002] In marine mining operations, it is necessary to coordinate the control of each winch and A-frame and other surface equipment to ensure the smooth diving of underwater systems such as mine trucks, intermediate warehouses and lift pumps. c Ocean mining surface support system is an important support for the coordinated control of surface equipment of deep-sea mining ships. At present, the commonly used water surface support systems have irreducible deviations and limited control rules, which make them have certain defects in the actual application process. Generalized PID algorithm is an improved intelligent control algorithm, its mechanism is to optimize PID parameters through generalized rules, this method makes up for the shortcomings of traditional c...

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Application Information

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IPC IPC(8): G05B11/42B66D1/50
CPCG05B11/42B66D1/50
Inventor 唐颖陈丹东潘登李源屠芃林
Owner 武汉船舶设计研究院有限公司