The Research Of Dual Motor Speed Fuzzy Neural Network Synchronous Control With Oil Spill Recovery Equipment

The frequent occurrence of oil spill on the sea will cause serious damage to the marine environment and the national economy. The embedded type oil spill recovery equipment which can quickly clean up sudden sea oil spills avoid the pollution of the oil spill to the marine environment, and can effectively recycle the oil spill, thus saving the valuable oil resources. Aiming at the problems of low performance and low efficiency of domestic oil spill recovery equipment, a new type of double embedded oil spill recovery equipment was developed. In the process of placing and recovering the oil fence of the embedded type oil spill recovery equipment, it is necessary to ensure the synchronization accuracy of the oil sweep arm end line velocity and the fence reel line velocity as far as possible. Under the condition of complex conditions such as ocean waves and sea surface wind loads, achieving precise control of oil sweep arm motor speed and fence reel motor speed is the premise and key technology of oil sweep arm end line velocity and fence reel line velocity synchronous control. For the synchronous control of double motor speed,the following aspects were studied and discussed in detail:The dual motor synchronous drive system which consists of oil sweep arm motor and fence reel motor was introduced, and the operation principle and realization method of the dual motor synchronous drive system were explained. The dual motor synchronous speed control system which consists of oil sweep arm motor and fence reel motor was a nonlinear uncertain system. Fuzzy neural network control technique was proposed to control the dual motor synchronous speed system.Fuzzy neural network control combines fuzzy control and neural network control, and has the advantages of the two. In this paper the dual motor synchronization control system was a nonlinear uncertain system. The fuzzy neural network control technology was used to control the double motor synchronous system, so as to realize the synchronous and precise control of oil sweep arm motor and fence reel motor and keep oil sweep arm end line velocity and fence reel line velocity consistent. Finally, in the process of oil spill recovery, the work of releasing and recovering the oil fence was completed successfully.The dual motor speed synchronization control system mathematical model was established basing on dual motor equivalent control strategy and introducing the fuzzy neural network control theory. The simulation of synchronization control system was carried out using the Matlab/Simulink software. Simulation results show that the dynamic response and steady-state characteristics of the fuzzy neural network control are better compared to the PID control. Besides, the synchronization error and the synchronization precision of the fuzzy neural network control is smaller and higher compared to the PID control.In the process of automatic operation of the embedded oil spill recovery equipment, it is necessary to control the oil sweep arm to reach the designated position and accurately grasp the float before placing the oil fence. The experiment of the float grasp in the automatic operation was carried out. Through the field test, it was found that the embedded oil spill recovery equipment could control the oil sweep arm to grasp the float accurately before placing the oil fence in the automatic operation process.Basing on a large number of domestic and foreign relevant literature and aiming at the problem of synchronous speed control of oil sweep arm motor speed and fence reel motor speed, fuzzy neural network control technique was proposed to control the dual motor synchronous speed system. The simulation of synchronization control system was carried out using the Matlab/Simulink software. Simulation results show that the dynamic response and steady-state characteristics of the fuzzy neural network control are better compared to the PID control. Besides, the synchronization error and the synchronization precision of the fuzzy neural network control is smaller and higher compared to the PID control. In this paper, the fuzzy neural network synchronization control method has certain academic value and reference value for the synchronous control of dual motor speed.