计算机工程与应用 ›› 2015, Vol. 51 ›› Issue (21): 36-40.

• 理论研究、研发设计 • 上一篇    下一篇

基于卡尔曼滤波的主动波浪补偿系统研究

解迎刚1,2,王  晓3,曾佳佳1,侯金梦1   

  1. 1.北京信息科技大学 信息与通信工程学院,北京 100101
    2.高动态导航技术北京市重点实验室,北京 100101
    3.北京科技大学 计算机与通信工程学院,北京 100083
  • 出版日期:2015-11-01 发布日期:2015-11-16

Active wave compensation system based on Kalman filter to grind

XIE Yinggang1,2, WANG Xiao3, ZENG Jiajia1, HOU Jinmeng1   

  1. 1.School of Information & Communication Engineering, University of Beijing Information Science & Technology, Beijing 100101, China
    2.Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100101, China
    3.School of Computer & Communication Engineering, University of Science & Technology Beijing, Beijing 100083, China
  • Online:2015-11-01 Published:2015-11-16

摘要: 针对船舶随涌浪进行的升沉运动进行较为深入的研究,旨在采用主动式波浪补偿解决耙吸式疏浚船耙管终端水平高度稳定问题。建立波浪补偿预测系统,通过运动参考单元测量船舶运动竖直方向速度和加速度,主控制单元根据所建立的数学模型结合卡尔曼滤波算法处理数据,通过执行机构调整绳索收放速度完成耙管终端控制补偿,使耙头水平高度在工作过程中保持稳定。所建立的波浪补偿预测系统具有自主学习能力,可以不断运用实测数据自我修正以提高精度,具有很高的实用价值。

关键词: 主动式波浪补偿, 卡尔曼滤波, 波浪补偿预测系统

Abstract: This paper conducts a more in-depth examine for the heave motion of the vessel and active heave compensation with the surge. It is intended to solve the trailing suction hopper dredgers rake tube terminal level height stability. It establishes compensation wave forecasting system, through the movement of ship motion reference unit measuring the vertical velocity and acceleration. The main control unit is combined with Kalman filter algorithm to process data in accordance with the mathematical model established. It adjusts the speed of the rope through the implementing agencies to complete the retractable rake tube terminal control compensation, so that the level of the rake head remains stable during operation. Wave compensation prediction system established with independent learning ability, can use the measured data to improve the accuracy of self-correction, therefore with high practical value.

Key words: active wave compensation, Kalman filter, prediction of wave compensation system