船舶航向/横摇控制系统信息处理系统
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摘要
由于船舶行驶时航行工况和海洋情况复杂多变,使得船舶运动信息的处理十分繁琐,如何实时、准确、方便地对船舶进行运动控制和信息处理,成为船舶控制系统需要解决的关键性问题。针对上述问题,本文主要研究设计
船舶航向/横摇控制系统信息处理系统,为实现复杂的控制算法和简洁的操作界面等目标进行了系统的软硬件设计。
船舶航向/横摇控制系统信息处理系统基于船舶舵/翼舵-鳍/翼鳍联合控制模型,在MATLAB环境下进行了系统仿真,验证了控制算法的可行性。在此基础上,本文设计了基于工控机的信息处理硬件系统,并将仿真方法采用C++语言编制,在VC++环境下进行了信息处理系统的软件开发。
信息处理系统是船舶航向/横摇控制系统的核心部分。本文基于研华610H型工控机和PCI-1716、PCI-1723型板卡设计了信息处理系统硬件的总体方案,对板卡进行了驱动、测试等工作,设计了传感器—工控机的A/D转换通道、工控机—伺服系统的D/A转换通道。按照模块化程序设计的思想,本文设计了信息处理系统软件编制的总体方案,对算法模块、通信模块、人机界面模块等进行了调用,为仿真结果的实际应用创造了可行性。
舵角/翼舵角、鳍角/翼鳍角智能分配控制是信息处理系统的核心。在船舶舵/翼舵—鳍/翼鳍联合控制模型的基础上,按照基本遗传算法的相关理论,本文设计了信息处理系统中算法的实现流程。采用程序语言与控制模型相结合的设计思路,确定了智能分配控制的适应度函数和各种矩阵。
本文基于工控机在Visual C++6.0环境下开发了算法控制程序、数据采集卡的驱动程序、中断程序、接口程序等,为系统的软硬件调试做好了铺垫。设计了VC++环境下的人机界面,以对话框方式输入初始参数,可对试验参数进行保存与查看,以曲线形式显示试验结果,并与视景仿真系统进行通信。最终实现形式符合系统设计目标。
The complicated variable working condition and circumstance of the sea make Intelligent Information Processing System tedious. How to control ship and process information accurately and conveniently becomes the key point to settle for ship control system. Aiming at the problem mentioned above, an information process system, including software and hardware, is designed for ship course/roll control system to realize complex control algorithm and succinct operation interface.
Information processing system of ship course/roll control system is based on the combined controlling model of main/flap rudder angles and main/flap. The control algorithm was proved to be valid by simulation in MATLAB. Then an information processing system based on industrial computer was designed and simulated by C++. The software construction of information processing system was designed under the circumstance VC++.
Intelligent information processing system is the core of ship course/roll control system. Based on industrial computer 610H and data acquisition card PCI 1716 and PCI 1723, general scheme for hardware of the system was designed. The data acquisition card was driven and tested, and A/D and D/A conversion in sensor-industrial computer-servo system was realized. According to modular programming thinking, general scheme for software of the system was designed. Algorithm module, man-machine interface module and communication module were called and made practical application of simulating results possible.
Intelligent distribution control of main/flap rudder angles and main/flap is the core of information processing system. Based on combined control model of main/flap rudder angles and main/flap and theory of GA, realization flow of information intelligent processing algorithm was designed. According to the designing thought which combines program language and control model, fitness function and various matrixes of intelligent distribution control were decided.
Algorithm control program, and driver, interrupt program, and interface program of data acquisition card were developed with Visual C++ 6.0 based on industrial computer and debugging of software and hardware was prepared in this paper. The man-machine interface designed with VC++ permits inputting data by dialog box, saving and reading experimental parameters, and showing results by curves. The industrial computer receives, transforms and calculates signal of sensor, sends control order to servo system and communicates with visual simulation system. Finally, the realization form fits the design goal.
船舶航向/横摇控制系统信息处理系统,为实现复杂的控制算法和简洁的操作界面等目标进行了系统的软硬件设计。
船舶航向/横摇控制系统信息处理系统基于船舶舵/翼舵-鳍/翼鳍联合控制模型,在MATLAB环境下进行了系统仿真,验证了控制算法的可行性。在此基础上,本文设计了基于工控机的信息处理硬件系统,并将仿真方法采用C++语言编制,在VC++环境下进行了信息处理系统的软件开发。
信息处理系统是船舶航向/横摇控制系统的核心部分。本文基于研华610H型工控机和PCI-1716、PCI-1723型板卡设计了信息处理系统硬件的总体方案,对板卡进行了驱动、测试等工作,设计了传感器—工控机的A/D转换通道、工控机—伺服系统的D/A转换通道。按照模块化程序设计的思想,本文设计了信息处理系统软件编制的总体方案,对算法模块、通信模块、人机界面模块等进行了调用,为仿真结果的实际应用创造了可行性。
舵角/翼舵角、鳍角/翼鳍角智能分配控制是信息处理系统的核心。在船舶舵/翼舵—鳍/翼鳍联合控制模型的基础上,按照基本遗传算法的相关理论,本文设计了信息处理系统中算法的实现流程。采用程序语言与控制模型相结合的设计思路,确定了智能分配控制的适应度函数和各种矩阵。
本文基于工控机在Visual C++6.0环境下开发了算法控制程序、数据采集卡的驱动程序、中断程序、接口程序等,为系统的软硬件调试做好了铺垫。设计了VC++环境下的人机界面,以对话框方式输入初始参数,可对试验参数进行保存与查看,以曲线形式显示试验结果,并与视景仿真系统进行通信。最终实现形式符合系统设计目标。
The complicated variable working condition and circumstance of the sea make Intelligent Information Processing System tedious. How to control ship and process information accurately and conveniently becomes the key point to settle for ship control system. Aiming at the problem mentioned above, an information process system, including software and hardware, is designed for ship course/roll control system to realize complex control algorithm and succinct operation interface.
Information processing system of ship course/roll control system is based on the combined controlling model of main/flap rudder angles and main/flap. The control algorithm was proved to be valid by simulation in MATLAB. Then an information processing system based on industrial computer was designed and simulated by C++. The software construction of information processing system was designed under the circumstance VC++.
Intelligent information processing system is the core of ship course/roll control system. Based on industrial computer 610H and data acquisition card PCI 1716 and PCI 1723, general scheme for hardware of the system was designed. The data acquisition card was driven and tested, and A/D and D/A conversion in sensor-industrial computer-servo system was realized. According to modular programming thinking, general scheme for software of the system was designed. Algorithm module, man-machine interface module and communication module were called and made practical application of simulating results possible.
Intelligent distribution control of main/flap rudder angles and main/flap is the core of information processing system. Based on combined control model of main/flap rudder angles and main/flap and theory of GA, realization flow of information intelligent processing algorithm was designed. According to the designing thought which combines program language and control model, fitness function and various matrixes of intelligent distribution control were decided.
Algorithm control program, and driver, interrupt program, and interface program of data acquisition card were developed with Visual C++ 6.0 based on industrial computer and debugging of software and hardware was prepared in this paper. The man-machine interface designed with VC++ permits inputting data by dialog box, saving and reading experimental parameters, and showing results by curves. The industrial computer receives, transforms and calculates signal of sensor, sends control order to servo system and communicates with visual simulation system. Finally, the realization form fits the design goal.
引文
[1]杨盐生.船舶运动控制研究中存在的问题与对策。大连海事大学学报。1999,25(4):1-2
[2]任光,颜德文等。船舶控制仿真系统.大连海事大学学报。2002,28(3):5-6
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[12]Haddara M R,Wishahy M.An investigation of roll characteristics of two full scale ships at sea.Ocean Engineering.2002,29(6):651-666P
[13]叶瑰昀,罗辉华.减摇鳍模糊参数自整定PID控制器设计及仿真研究. 船舶工程.2002,(3):39-42页
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[35]马壮,万德钧基于遗传算法的操舵仪控制参数在线优化.船舶工程.1999(1):43-46页
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[2]任光,颜德文等。船舶控制仿真系统.大连海事大学学报。2002,28(3):5-6
[3]郑明辉,杨松林,王志东.船舶操纵运动智能控制的实时仿真研究。船电技术。2001(5):21
[4]Amerongen J V.An autopilot for ships designed with fuzzy sets.Proccedings of IFAC Conference on Digital Computer Applications to Process Control,The Hague,USA.1977:101-106P
[5]Sutton R.Neuro-fuzzy techniques applied to a ship autopilot design.Journal of Navigation.1996,49(3):410-430P
[6]Sutton R.A fuzzy autopilot optimized a genetic algorithm..Journat of Navigation,1997,50(1):120-131P
[7]Burns R S.The use of artificial neural networks for the intelligent Optimal control of surface ships.IEEE Journal of Oceanic Engineering,1995,20(1):65-72P
[8]Bums R,Richter R.A neural-network approach to the control of surface ships.Control Engineering Practice,1996,4(3):411-416P
[9]康林道.减摇鳍(消摆装置)的采用与发展.船舶工业技术经济信息.1997,(9):27-29页
[10]Daniel L A,et al..Roll Reduction in Ships by Means of Active Fins Controlled by a Neural Network.Ship technology research.2000,47(2):79-89P
[11]Gokcek C,Kabamba P T,and Meerkov S M.Analysis of H~2 Performance Robustness with Respect to Disturbance Model Uncertainty.IEEE Transactions on Automatic Control.2000,45(8):1541-1544P
[12]Haddara M R,Wishahy M.An investigation of roll characteristics of two full scale ships at sea.Ocean Engineering.2002,29(6):651-666P
[13]叶瑰昀,罗辉华.减摇鳍模糊参数自整定PID控制器设计及仿真研究. 船舶工程.2002,(3):39-42页
[14]于萍,刘胜.船舶减摇非线性系统神经网络控制研究.信息与控制,2003(6):264-268页
[15]王科俊,苏闽.减摇鳍单神经元控制方法研究.船舶工程.1999(3):35-37页
[16]刘胜,姚波.船舶减摇鳍系统最小方差控制.信息与控制,1994(6):178-182页
[17]焦侬.减摇鳍自适应控制系统的研究和仿真船舶工程.1998(4):37-39页
[18]杨盐生.船舶减摇鳍不确定非线性系统的变结构鲁棒控制.中国造船.1998(3):31-37页
[19]杨盐生,贾欣乐.不确定线性系统的鲁棒切换函数变结构控制.控制理论与应用.2001,18(2):289-292页
[20]孙静川,刘胜.船舶减摇鳍系统H~∞控制器设计。船舶工程,2000(1):41-44页
[21]张晓宇,金鸿章.船舶力控减摇鳍系统建模与仿真.中国造船.2002,43(2):64-70页
[22]于萍,刘胜.非线性自抗扰控制器在船舶减摇鳍系统中的应用.哈尔滨工程大学学报,2002(10):7-11页
[23]Cowley W E,Lambert T H.The use of rudder as roll stabilizer.Proceeding of SCSS'72,Vol.2,Bath,UK,1972,(Ⅶ):C-1
[24]王燕婕.舵鳍联合控制系统的模型建立.哈尔滨工程大学硕士学位论文.1995:8-9页
[25]杨承恩,田园,毕英君.船舶舵阻摇技术的回顾与展望.世界海运,2002,(4):4-7页
[26]Baitis E,Woolaver D A,Beck T A.Rudder roll stabilization for coast guards cutters and frigates.Naval Engineers Journal,1983:267-282P
[27]Baitis,E,Woolaver D A,Beck T A.Ship roll stabilization in the US Navy.Naval Engineers Journal,1989:43-53P
[28]K(a|¨)llstr(o|¨)m C G,Wessel P.Sjolander S.Roll reduction by rudder control. Proceeding of SNAME Spring Meeting/STAR Symposium,Pittsburg,Pennsylvania,USA.1988:67-76P
[29]Amerongen J,Van der Klugt P G M,Van Nauta Lempke H R.Rudder roll stabilization for ships.Automatic,1990(4):679-690P
[30]鲍刚(译).美海岸警卫队901级舰的舵/鳍减摇系统.国外舰船工程.2001,(1):33-39页
[31]鲍刚(译).美海岸警卫队901级舰的舵/鳍减摇系统.国外舰船工程.2001,(2):38-45页
[32]Roberts G N,et all.H~∞ optimization technique applied to the design of a combined steering/stabilizer system for warships.Proceedings of the 13~(th) World Congress of IFAC.San Francisco,USA.1996:291-296P
[33]赵国良,姜仁锋.极点优化配置船舶自适应自动舵.黑龙江自动化技术与应用.1988(3):1-5页
[34]张炎华,刘思行.船舶操舵系统的鲁棒自适应控制.船舶工程.1995(4):40-44页
[35]马壮,万德钧基于遗传算法的操舵仪控制参数在线优化.船舶工程.1999(1):43-46页
[36]程启明,万德钧.船舶航迹自动舵的神经网络控制方法研究.仪器仪表学报.1999,20(4):371-375页
[37]程启明,万德钧.船舶自动舵的单神经元自适应PID/PSD控制.东南大学学报.1997,27(6):133-137页
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