基于最小能耗的海洋浮式平台位置轨迹优化

【目的】研究解决海洋大惯量浮式平台在复杂海况影响下所引起的振动冲击问题。【方法】采用逆运动学分析方法对平台回转位置进行优化研究,提出一种基于关节最小耗能的多目标轨迹优化算法。采用分段样条插值方法构造关节位置曲线,并建立关节能耗轨迹优化模型,采用粒子群算法实现对关节位置的优化搜索,从而得到基于平台转动最小耗能的位置优化轨迹。【结果与结论】所采用的轨迹优化方法能有效改善系统运行的平滑性,降低回转机构振动与冲击的影响程度,可为平台的振动与冲击主动控制提供必要的理论依据。

Trajectory Optimization of Ocean Floating Platform Based on Minimum Energy Consumption

【Objective】To mitigate the problem of vibration and impact caused by large inertia floating platform under the influence of complex sea conditions.【Method】The inverse kinematic method is adopted to optimize position trajectory of the platform and the multi-objective optimization model is programed based on the minimal energy dissipation.The joint position curve was constructed by the means of piecewise spline interpolation and multi-objective optimization model under the constraints of the minimal energy consumption of each joint was established.The particle swarm optimization method was used to obtain the optimal position parameters.【Result and Conclusion】The proposed trajectory optimization method can significantly improve the smoothness of the operation system and provide theoretical basis for the active control of vibration and impact of the platform.