Research On Coupling Control Of Test Bench Of Anti-rolling Tank And The Design Of Digital Control System

Two degree of freedom test bench of anti-rolling tank is an important experiment facility to research and design anti-rolling tank. It can simulate factual movement of the vessel. The device is a kind of special complex system. So far china has no such test equipments as so large scale. The rolling motion and the sway motion of the bench is coupled, so the tracking ability of the position signal is affected.At first, deduced the coupling relationship. In order to further analyze the coupling relationship, did the simulation with Adams, and analyzed the results. Then made the hydraulic positioning system mathematical model of the bench, based on the different periodic regular waves, did the simulation, the results showed that the signal tracking ability of the uncontrolled system was not ideal, the tracking ability of the high frequency signal was not good, then, studied the control effect of PID algorithm. The simulation results showed that for the control of the single degree of freedom, the PID controller can completely meet the demand, but for the control of the two degree of freedom, the control effect of the PID controller was ineffective.For the coupling control, the paper proposed self-adapting algorithm, and studied the control effect, the simulation results showed that it improved the robust of the system greatly. Then using Adams/Matlab combined simulation verified the algorithm.Secondly, designed the control system which based on the PMAC controller and the date acquire system which based on the PCL-1800 card. The system can control the bench, and it can complete single degree of freedom motion or two degree of freedom motion, it can make date acquisition and save it.Finally, did the test, test the signal tracking effect and analyzed the results.