船舶舵机建模与航迹舵系统研究
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摘要
随着航运业的发展,港口日趋繁忙,对船舶航行的安全性和经济性要求不断提高,对航向、航迹的控制精度要求也越来越高;现有的船舶控制系统以航向控制或间接航迹控制系统为主,其控制性能和结构都有待进一步的提高。因此,综合考虑船舶控制系统的各个部分(如舵机伺服系统),设计控制精度高的船舶控制系统已成为当今一个重要的研究课题。本课题的主要任务是在实际液压舵机模型和船舶四自由度模型的基础上,考虑船舶所受到的环境干扰力影响,对船舶航迹控制的两种方式及控制算法进行了研究。
首先,利用MMG(Manoeuvring Mathematical Model Group)建模思想建立了船舶四自由度分离型数学模型及所受环境干扰力(风浪流)模型,基于谱分析理论对变动风和不规则波进行了仿真研究。针对船舶运动控制系统的主要执行机构—液压舵机系统,详细讨论了在船和螺旋桨干扰下的舵力和力矩的计算方法;以某一型号的液压舵机为对象,考虑舵机系统各部分的运动方程及其系统的控制方法,使用SIMULINK工具箱,在一定简化条件下建立了其动态数学模型,充分考虑操舵伺服系统这一舵角闭环的动态行为。
船舶的航迹控制是本文另一个重点研究内容,其中对航迹控制的控制方式、航迹误差的计算以及转向航迹段的控制策略进行了研究。针对间接法和直接法,采用开关切换型模糊-PID和PID两种算法设计了航迹控制器。不同的海情下,在转向航迹段使用转向控制策略,使用开关切换型模糊-PID控制器对航迹控制进行了仿真。
本文所设计的船舶航迹控制系统,对大型水面舰船的航行安全有一定参考价值,其中转向处转向控制策略的增加进一步提高了航迹跟踪的精度;液压舵机作为船舶运动控制系统的一个子系统,数学模型的建立及对其动态特性的研究,为研究船舶航向、航迹控制的准确性提供了条件。
With the increasing in maritime transport and port, the request of security and economy of navigation is becoming higher. The requirement of course control and track-keeping control is getting higher and higher. The existing control system of ship that performance and structure have to be further raised, is mainly focus on the course or indirect track control. So, considering each parts of the ship's control system(such as Rudder Servo System), design high-precision ship control system has become an important research topic. Therefore, The main task of this topic is to design track-keeping system of the ship in two ways and two control algorithms, based on the actual model of hydraulic steering gear and four-freedom model of ship, considering environmental interference forces the ship suffered.
First, establish the four-freedom mathematical model of ship based on MMG (Manoeuvring Mathematical Model Group) and environmental interference forces(wind wave flow) model. Based on spectral analysis, simulate the changing wind and irregular wave .To be the main executive part of the ship's motion control system- the Hydraulic Steering Gear System, described the calculation method of the rudder force and torque in detail in the interference of the ship and propeller. Consider each part of steering gear and the control method of system, under the certain conditions, establish the dynamic mathematical model of a particular model for hydraulic steering gear system using the Simulink toolbox, Consider the steering servo system of the rudder angle of the dynamic behavior of the closed-loop.
The ship's track-keeping control is one of the most important contents, which mainly includes two control ways of track-keeping, the calculation method of track error, the strategy on turning track passage. Finally, For the indirect method and direct method, designs two ships track-keeping controller that use a switching-type fuzzy-PID and PID algorithms. Research and simulation of the ship track under the different sea condition, Adding the control strategy on way-point.
The control system designed in this paper provide a certain reference to the large surface ships for navigation's safety and economy. Adding the control strategy in the turning passage further improve the accuracy of track. Hydraulic steering gear, as a subsystem of ship motion control system, Building mathematical model of hydraulic steering gear and considering its dynamic behavior provide the condition for research on the precise of the track-keeping system.
首先,利用MMG(Manoeuvring Mathematical Model Group)建模思想建立了船舶四自由度分离型数学模型及所受环境干扰力(风浪流)模型,基于谱分析理论对变动风和不规则波进行了仿真研究。针对船舶运动控制系统的主要执行机构—液压舵机系统,详细讨论了在船和螺旋桨干扰下的舵力和力矩的计算方法;以某一型号的液压舵机为对象,考虑舵机系统各部分的运动方程及其系统的控制方法,使用SIMULINK工具箱,在一定简化条件下建立了其动态数学模型,充分考虑操舵伺服系统这一舵角闭环的动态行为。
船舶的航迹控制是本文另一个重点研究内容,其中对航迹控制的控制方式、航迹误差的计算以及转向航迹段的控制策略进行了研究。针对间接法和直接法,采用开关切换型模糊-PID和PID两种算法设计了航迹控制器。不同的海情下,在转向航迹段使用转向控制策略,使用开关切换型模糊-PID控制器对航迹控制进行了仿真。
本文所设计的船舶航迹控制系统,对大型水面舰船的航行安全有一定参考价值,其中转向处转向控制策略的增加进一步提高了航迹跟踪的精度;液压舵机作为船舶运动控制系统的一个子系统,数学模型的建立及对其动态特性的研究,为研究船舶航向、航迹控制的准确性提供了条件。
With the increasing in maritime transport and port, the request of security and economy of navigation is becoming higher. The requirement of course control and track-keeping control is getting higher and higher. The existing control system of ship that performance and structure have to be further raised, is mainly focus on the course or indirect track control. So, considering each parts of the ship's control system(such as Rudder Servo System), design high-precision ship control system has become an important research topic. Therefore, The main task of this topic is to design track-keeping system of the ship in two ways and two control algorithms, based on the actual model of hydraulic steering gear and four-freedom model of ship, considering environmental interference forces the ship suffered.
First, establish the four-freedom mathematical model of ship based on MMG (Manoeuvring Mathematical Model Group) and environmental interference forces(wind wave flow) model. Based on spectral analysis, simulate the changing wind and irregular wave .To be the main executive part of the ship's motion control system- the Hydraulic Steering Gear System, described the calculation method of the rudder force and torque in detail in the interference of the ship and propeller. Consider each part of steering gear and the control method of system, under the certain conditions, establish the dynamic mathematical model of a particular model for hydraulic steering gear system using the Simulink toolbox, Consider the steering servo system of the rudder angle of the dynamic behavior of the closed-loop.
The ship's track-keeping control is one of the most important contents, which mainly includes two control ways of track-keeping, the calculation method of track error, the strategy on turning track passage. Finally, For the indirect method and direct method, designs two ships track-keeping controller that use a switching-type fuzzy-PID and PID algorithms. Research and simulation of the ship track under the different sea condition, Adding the control strategy on way-point.
The control system designed in this paper provide a certain reference to the large surface ships for navigation's safety and economy. Adding the control strategy in the turning passage further improve the accuracy of track. Hydraulic steering gear, as a subsystem of ship motion control system, Building mathematical model of hydraulic steering gear and considering its dynamic behavior provide the condition for research on the precise of the track-keeping system.
引文
[1]李长喜.不完全驱动船舶直线航迹控制系统的研究与设计[D].浙江工业大学硕士论文.2008:1-7页
[2]徐建辉.混合智能在船舶航迹控制中的应用[D].上海海事大学硕士论文.2006:8-12页
[3]鞠世琼.船舶航迹舵控制技术研究与设计[D].哈尔滨工程大学硕士论文.2007:2-6页
[4]狄猛.基于性能评价的船舶自动舵控制器设计研究[D].上海交通大学硕士论文.2008:31-34页
[5]G.N.Robert.Intelligent ship autopilots-A historical perspective[J].Mechatronics 13,2003:1091-1103
[6]张松涛.模糊多模型船舶运动控制系统的研究[D].大连海事大学博士论文.2006:1-5页
[7]刘小明.船舶航向模糊自适应控制研究[D].上海海运学院硕士学位论文.2002:21-25页
[8]Gerasimos Rigatos,Spyros Tzafestas.Adaptive fuzzy control for the ship steering problem[J].Mechatronics 16,2006:479-489
[9]闫书佳.基于无源性的船舶直线航迹控制设计[D].大连海事大学硕士论文.2008:5-10页
[10]张显库.船舶运动控制[M].北京:国防工业出版社,2006:4-7页
[11]李殿璞.船舶运动与建模[M].哈尔滨:哈尔滨工程大学出版社,69-72页
[12]刘应中.船舶原理(下)[M].上海交通大学出版社,2004:26-29页
[13]肖仲明.风浪中船舶操纵运动建模与仿真[D].大连海事大学工学硕士学位论文,2007:8-15页
[14]滕英祥.船舶在风浪中的操纵运动仿真[D].大连海事大学工学硕士学位论文,2004:45页
[15]贾欣乐,杨盐生.船舶运动数学模型—机理建模与辨识建模[M].大连:大连海事大学出版社,1999:141-175页
[16]乐美龙.船舶操纵性预报与港航操纵运动仿真[M].上海:上海交通大学出版社,2004:5-7页
[17]贾欣乐,张显库.船舶运动智能控制与鲁棒控制[M].大连:大连海事大学出版社,2002:9-13页
[18]Zhong Ping Jiang.Global tracking control of underactuated ships by Lyapunovs direct method[J].Automatica 38,2002:301-309
[19]金鸿章,李国斌.船舶特种装置控制系统[M].北京:国防工业出版社. 1995
[20]金鸿章等.船舶控制原理[M].哈尔滨:哈尔滨工程大学出版社,2001.108-110页
[21]范尚雍,程智斌,吕韶康.高速双桨双舵船的船—桨—舵之间的水动力干扰[J].中国造船,1989,(2):25-32页
[22]黄元华.舵机动态负载的仿真研究[D].华中科技大学硕士论文,2006:24-33页
[23]曹戈.MATLAB教程及实训[M].北京:机械工业出版社,2008.
[24]费千.船舶辅机[M].大连:大连海事大学出版社,2005.138-152页
[25]孙畅.船舶操纵系统建模与仿真[D].武汉理工大学硕士论文,2003:19-20页
[26]曾文火.电液自动舵受控对象数学建模及参数辨识[J].华东船舶工业学院学报,2001,15(4):25-25页
[27]王吉龙.基于变频技术的液压调速系统控制方案的仿真研究[D].大连海事大学硕士论文,2006:16-17页
[28]张维竞.某船推进装置的建模与动态仿真[J].计算机仿真,2002,19(3):88-89页
[29]王建斌.转舵机构舵角、压力和输出扭矩的关系[J].航海技术,2003:47-48页
[30]郑开陆.斜盘式轴线柱塞伺服变量泵应用的要点[J].液压与气动,2005,(9):40-41页
[31]邓丽霞.船舶舵机电液伺服调节器的建模与仿真研究[J].机床和液压,2007,(8):207-209页
[32]蒋丹东.船舶航迹控制[D].大连:大连海事大学博士论文[D].1997:25-30页
[33]K.D.Do.Universal controllers for stabilization and tracking of underactuated ships[J].Systems control Letters 47,2002:299-317.
[34]Jasmin Velagi.Adaptive fuzzy ship autopilot for track-keeping[J].Control Engineering Practice 11,2003:433-440
[35]Claes G..kallstrom.Autopilot and track keeping algorithms for high speed craft[J].Control Engineering Practice 8,2000:185-190
[36]M.Santos.A neuro fuzzy approach to fast ferry vertical motion modeling[J].Engineering Applications of Artificial Intelligence 19,2006:313-321
[37]Ming-Chung Fang.On the track keeping and roll reduction of the ship in random waves[J].Ocean Engineering 34,2007:479-488
[38]岩井聪.操船论[M].周沂,王立真译.第一版.人民交通出版社.1984.22-24页
[39]Omerdic E.A Fuzzy track keeping Autopilot for ship steering.Marest Journal of Marine Engineering and Technology,2003,15(2):45-49
[40]姜长生.智能控制与应用[M].北京:科学出版社,2007:151-153页
[41]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2002:101-117页
[42]刘金琨.智能控制[M].北京:电子工业出版社,2005:36-42页
[43]闽远胜.万吨级舰船运动建模及航向控制方法研究[D].哈尔滨工程大学硕士学位论文,2007:2-9页
[44]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2004:115-127页
[45]周港,周永余,陈永冰.基于模糊理论的舰船航迹控制器[J].海军工程大学学报2000.47-50页
[46]马壮.一种新型模糊-PID控制航迹自动舵[J].船舶电子工程,1999,(6):21-22页
[47]薛定宇.基于MATLAB的系统仿真技术与应用[M].北京:清华大学出版社,2002:316-322页
[48]程启明.模糊控制和PID控制集成的船舶操纵控制器研究[J].上海电力学院学报,2001,(12):7-9页
[49]闻新,周露,李东江等编著.Matlab模糊逻辑工具箱的分析与应用[M].北京:科学出版社,2001.135-137页
[50]熊光楞.控制系统数字仿真[M].北京:清华大学出版社.1994:1-10
[2]徐建辉.混合智能在船舶航迹控制中的应用[D].上海海事大学硕士论文.2006:8-12页
[3]鞠世琼.船舶航迹舵控制技术研究与设计[D].哈尔滨工程大学硕士论文.2007:2-6页
[4]狄猛.基于性能评价的船舶自动舵控制器设计研究[D].上海交通大学硕士论文.2008:31-34页
[5]G.N.Robert.Intelligent ship autopilots-A historical perspective[J].Mechatronics 13,2003:1091-1103
[6]张松涛.模糊多模型船舶运动控制系统的研究[D].大连海事大学博士论文.2006:1-5页
[7]刘小明.船舶航向模糊自适应控制研究[D].上海海运学院硕士学位论文.2002:21-25页
[8]Gerasimos Rigatos,Spyros Tzafestas.Adaptive fuzzy control for the ship steering problem[J].Mechatronics 16,2006:479-489
[9]闫书佳.基于无源性的船舶直线航迹控制设计[D].大连海事大学硕士论文.2008:5-10页
[10]张显库.船舶运动控制[M].北京:国防工业出版社,2006:4-7页
[11]李殿璞.船舶运动与建模[M].哈尔滨:哈尔滨工程大学出版社,69-72页
[12]刘应中.船舶原理(下)[M].上海交通大学出版社,2004:26-29页
[13]肖仲明.风浪中船舶操纵运动建模与仿真[D].大连海事大学工学硕士学位论文,2007:8-15页
[14]滕英祥.船舶在风浪中的操纵运动仿真[D].大连海事大学工学硕士学位论文,2004:45页
[15]贾欣乐,杨盐生.船舶运动数学模型—机理建模与辨识建模[M].大连:大连海事大学出版社,1999:141-175页
[16]乐美龙.船舶操纵性预报与港航操纵运动仿真[M].上海:上海交通大学出版社,2004:5-7页
[17]贾欣乐,张显库.船舶运动智能控制与鲁棒控制[M].大连:大连海事大学出版社,2002:9-13页
[18]Zhong Ping Jiang.Global tracking control of underactuated ships by Lyapunovs direct method[J].Automatica 38,2002:301-309
[19]金鸿章,李国斌.船舶特种装置控制系统[M].北京:国防工业出版社. 1995
[20]金鸿章等.船舶控制原理[M].哈尔滨:哈尔滨工程大学出版社,2001.108-110页
[21]范尚雍,程智斌,吕韶康.高速双桨双舵船的船—桨—舵之间的水动力干扰[J].中国造船,1989,(2):25-32页
[22]黄元华.舵机动态负载的仿真研究[D].华中科技大学硕士论文,2006:24-33页
[23]曹戈.MATLAB教程及实训[M].北京:机械工业出版社,2008.
[24]费千.船舶辅机[M].大连:大连海事大学出版社,2005.138-152页
[25]孙畅.船舶操纵系统建模与仿真[D].武汉理工大学硕士论文,2003:19-20页
[26]曾文火.电液自动舵受控对象数学建模及参数辨识[J].华东船舶工业学院学报,2001,15(4):25-25页
[27]王吉龙.基于变频技术的液压调速系统控制方案的仿真研究[D].大连海事大学硕士论文,2006:16-17页
[28]张维竞.某船推进装置的建模与动态仿真[J].计算机仿真,2002,19(3):88-89页
[29]王建斌.转舵机构舵角、压力和输出扭矩的关系[J].航海技术,2003:47-48页
[30]郑开陆.斜盘式轴线柱塞伺服变量泵应用的要点[J].液压与气动,2005,(9):40-41页
[31]邓丽霞.船舶舵机电液伺服调节器的建模与仿真研究[J].机床和液压,2007,(8):207-209页
[32]蒋丹东.船舶航迹控制[D].大连:大连海事大学博士论文[D].1997:25-30页
[33]K.D.Do.Universal controllers for stabilization and tracking of underactuated ships[J].Systems control Letters 47,2002:299-317.
[34]Jasmin Velagi.Adaptive fuzzy ship autopilot for track-keeping[J].Control Engineering Practice 11,2003:433-440
[35]Claes G..kallstrom.Autopilot and track keeping algorithms for high speed craft[J].Control Engineering Practice 8,2000:185-190
[36]M.Santos.A neuro fuzzy approach to fast ferry vertical motion modeling[J].Engineering Applications of Artificial Intelligence 19,2006:313-321
[37]Ming-Chung Fang.On the track keeping and roll reduction of the ship in random waves[J].Ocean Engineering 34,2007:479-488
[38]岩井聪.操船论[M].周沂,王立真译.第一版.人民交通出版社.1984.22-24页
[39]Omerdic E.A Fuzzy track keeping Autopilot for ship steering.Marest Journal of Marine Engineering and Technology,2003,15(2):45-49
[40]姜长生.智能控制与应用[M].北京:科学出版社,2007:151-153页
[41]陶永华.新型PID控制及其应用[M].北京:机械工业出版社,2002:101-117页
[42]刘金琨.智能控制[M].北京:电子工业出版社,2005:36-42页
[43]闽远胜.万吨级舰船运动建模及航向控制方法研究[D].哈尔滨工程大学硕士学位论文,2007:2-9页
[44]刘金琨.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2004:115-127页
[45]周港,周永余,陈永冰.基于模糊理论的舰船航迹控制器[J].海军工程大学学报2000.47-50页
[46]马壮.一种新型模糊-PID控制航迹自动舵[J].船舶电子工程,1999,(6):21-22页
[47]薛定宇.基于MATLAB的系统仿真技术与应用[M].北京:清华大学出版社,2002:316-322页
[48]程启明.模糊控制和PID控制集成的船舶操纵控制器研究[J].上海电力学院学报,2001,(12):7-9页
[49]闻新,周露,李东江等编著.Matlab模糊逻辑工具箱的分析与应用[M].北京:科学出版社,2001.135-137页
[50]熊光楞.控制系统数字仿真[M].北京:清华大学出版社.1994:1-10