船舶液压推进之推进特性的研究
摘要
本文是交通部基础项目研究基金“船舶综合液压推进技术基础研究”的一个部分。针对船舶主动力装置采用液压推进以后,船舶的推进特性进行研究,主要围绕如下四个方面展开。
一是,在船舶航行过程中,在遇到船舶污底和装载量改变时,在顺风、逆风和大风浪中航行时,由深水进入浅水和在窄航道中航行时,船舶转向和船舶倒航时,船舶动力装置的工况配合情况,以及如何对动力装置进行操作和管理。
二是,从轮机设备管理的角度,针对液压推进船舶的设计与制造问题,提供一种确定模块选择、设计的依据。首先给出液压推进船舶的原理和功率传递及控制方式,然后给出柴油机与液压泵站、液压泵站与液压马达、液压马达与螺旋桨之间的选择规则。
三是,建立液压推进船舶除柴油机外的各模块的数学模型,并用Matlab\Simulink软件对其进行了仿真,分析了仿真结果,证明了所建立模型的通用性。
四是,参数自整定PID模糊控制器是基于传统PID控制器,应用模糊集合理论建立参数与偏差绝对值和偏差变化绝对值间的二元连续函数关系,并根据不同的偏差及其变化在线自整定PID参数。进行Matlab\Simulink仿真的结果表明,对泵控马达系统的动态性能得到明显改善。
This thesis is based on the Ministry of Communications' foundation research fund, called "the Basal Investigation of Integrated Hydraulic Drive in Vessel". After equipped with hydraulic drive in vessel, the drive characteristic will change. So surrounding the drive characteristic, the thesis is divided into four parts to expound.1. When the ship meets such condition that the load of the ship were changed, the ship sail down the wind, against the wind, in the storm, and so on, so put forward the regulations that how to manipulate and manage the machinery equipment on the sailing in the paper.2. In order to give some references to the design and manufacture of ship hydraulic drive, module formulas are proposed from the angle of engine management in this paper. Power transfer mode and control are introduced. In addition, selection principle between engine and hydraulic pump, hydraulic pump and hydraulic motor, hydraulic motor and propeller, are presented.3.Establishing the mathematical model for the hydraulic drive in vessel except the engine. In addition the Matlab\Simulink soft educes the simulation model, and the results are analyzed. The results indicate that the model is useful. 4.Based on conventional adjustor, fuzzy parameters self-tuning PID establishes duality continuous function between the parameters and windage as well as its variety with the application of fuzzy aggregate theory. The controller can also adjust the PID controller's parameters on-line. The result of simulation by the Matlab\Simulink indicates that the controller evidently improves the dynamic property of pump-control-motor system.
一是,在船舶航行过程中,在遇到船舶污底和装载量改变时,在顺风、逆风和大风浪中航行时,由深水进入浅水和在窄航道中航行时,船舶转向和船舶倒航时,船舶动力装置的工况配合情况,以及如何对动力装置进行操作和管理。
二是,从轮机设备管理的角度,针对液压推进船舶的设计与制造问题,提供一种确定模块选择、设计的依据。首先给出液压推进船舶的原理和功率传递及控制方式,然后给出柴油机与液压泵站、液压泵站与液压马达、液压马达与螺旋桨之间的选择规则。
三是,建立液压推进船舶除柴油机外的各模块的数学模型,并用Matlab\Simulink软件对其进行了仿真,分析了仿真结果,证明了所建立模型的通用性。
四是,参数自整定PID模糊控制器是基于传统PID控制器,应用模糊集合理论建立参数与偏差绝对值和偏差变化绝对值间的二元连续函数关系,并根据不同的偏差及其变化在线自整定PID参数。进行Matlab\Simulink仿真的结果表明,对泵控马达系统的动态性能得到明显改善。
This thesis is based on the Ministry of Communications' foundation research fund, called "the Basal Investigation of Integrated Hydraulic Drive in Vessel". After equipped with hydraulic drive in vessel, the drive characteristic will change. So surrounding the drive characteristic, the thesis is divided into four parts to expound.1. When the ship meets such condition that the load of the ship were changed, the ship sail down the wind, against the wind, in the storm, and so on, so put forward the regulations that how to manipulate and manage the machinery equipment on the sailing in the paper.2. In order to give some references to the design and manufacture of ship hydraulic drive, module formulas are proposed from the angle of engine management in this paper. Power transfer mode and control are introduced. In addition, selection principle between engine and hydraulic pump, hydraulic pump and hydraulic motor, hydraulic motor and propeller, are presented.3.Establishing the mathematical model for the hydraulic drive in vessel except the engine. In addition the Matlab\Simulink soft educes the simulation model, and the results are analyzed. The results indicate that the model is useful. 4.Based on conventional adjustor, fuzzy parameters self-tuning PID establishes duality continuous function between the parameters and windage as well as its variety with the application of fuzzy aggregate theory. The controller can also adjust the PID controller's parameters on-line. The result of simulation by the Matlab\Simulink indicates that the controller evidently improves the dynamic property of pump-control-motor system.
引文
[1] “船舶综合液压推进基础研究”项目申请书.
[2] 吴恒.船舶动力装置技术管理.大连海事大学出版社,1999.
[3] 翁史烈.船舶动力装置仿真技术.上海交通大学出版社,1991.
[4] 郑智琴.Simulink电子通信仿真与应用.国防工业出版社[J],2002.
[5] 吴伯才.船舶液压推进的可行性探讨.宁波大学学报,2002,15(2):76-78.
[6] 贾欣乐,杨盐生.船舶运动数学模型-机理建模与辨识建模.大连海事大学出版社,1999.
[7] Passino Kevin M,Yurkovich Stephen.Fuzzy control.北京:清华大学出版社,2001.
[8] 薛定宇.控制系统计算机辅助设计—MATLAB语言及应用.北京:清华大学出版社,1996.
[9] 施阳.MATLAB语言精要及动态仿真工具A I M U L I N K[M].西北工业大学出版社,1999.
[10] 陶永华.新型PID控制及其应用.机械工业出版社,1999.
[11] Wang Xue Zhi, Cui Zhi She, Xu Yong. The Application of the Man-simulated Intelligent Control to Electro-hydraulic Servo System. 1997 IEEE Internationl Conference on Intelligent Processing Systems, October 28-31, Beijing, China.
[12] 德兰斯菲尔德.液压控制系统的设计与动态分析.大连工学院液压教研室译.北京:科学技术出版社,1987.3.
[13] Y. Jen, C. Lee. Robust speed control of a pump-controlled motor system. IEE PROCEEDINGS-D, Vol. 139, No. 6, NOVEMBER 1992.
[14] 徐绍佐.船舶综合电力推进系统综述.柴油机,2004.2.
[15] Xiuming REN, Zhihua WANG. Multi-Stage PM Disc Motor for Ship Propulsion Application.
[16] Meihua Tai, Pushkar Hingwe, Masayoshi Tomizuka. Modeling and Control of Steering System of Heavy Vehicles for Automated Highway Systems. IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 9, NO. 4, DECEMBER 2004.
[17] M.J. Jin, W. Hu, F. Liu, S.W. Mei and Q. Lu. Nonlinear co-ordinated control of excitation and governor for hydraulic power plants. IEE Proc.-Gener. Transm. Distrib. Vol. 152, No. 4, July 2005.
[18] 廖晓钟,刘向东.自动控制系统.北京理工大学出版社,2005.
[19] 陈强,解云龙,廖宝剑,郭建政.机械系统的微机控制.清华大学出版社,1998.
[20] 王立新著,王迎军译.模糊系统与模糊控制教程.清华大学出版社,2003.
[21] 贺利乐.建设机械液压与液力传动.机械工业出版社,2004.
[22] 邵俊鹏,徐星辉,贾慧娟.MATLAB在模型参考模糊自适应控制系统仿真中的应用.计算机仿真,2003.1.
[23] 吴小平,杨松林,郭小东.高速船运动在线联机预报及其控制仿真.计算机仿真,2004.4.
[24] 李祖欣.MATLAB在模糊控制系统设计和仿真的应用.系统仿真学报,2003.1.
[25] 陈跃东,郎朗.用FUZZY-PID控制器实现控制参数的自整定.安徽机电学院学报,2002.9.
[26] 金立生,赵丁选,丁德胜,叶忠军.液压挖掘机节能参数自适应模糊PID控制器研究.农业工程学报,2003.11.
[27] 陈鹰,许宏,陶国良等.压缩空气动力汽车的研究与发展.机械工程学报,2002.11.
[28] 亢海伟,杨庆芬,王硕禾.基于MATLAB模糊逻辑工具箱的模糊控制系统仿真.自动化与仪器仪表,2000.2.
[29] 刘文良,王杰.Simulink中一般模型的创建方法及其在系统仿真中的应用.天津轻工业学院学报,1999.4.
[30] 张绍裘,吴冉泉,吴小洪,曾焕浪,樊放明.带液压伺服补偿的等流量双泵同步系统的研究.液压气动与密封,2000.4.
[31] 李天石,黎晖,王昌.一种学习控制器及其在液压同步控制中的应用.西安交通大学学报,1995.7.
[32] 刘春娟,顾生杰.非时称模糊PID控制在二质量伺服系统中的应用.自动化与仪器仪表,2005.3.
[33] 侯北平,卢佩,付连昆自适应模糊PID控制器的设计及基于MATLAB的计算机仿真.天津轻工业学院学报,2001.12.
[34] 王天奎,顾建民.船舶超导磁流体推进技术展望.船舶工程,1994.5.
[35] 朱亚莉,李巍,张维竞,张燕燕.舰船推进装置仿真技术的发展.计算机应用,2001.5.
[36] 刘柱.船舶喷水推进技术发展.水路运输文摘,2004.
[37] 张维竞,陶鸿莹,朱亚莉.某船推进装置的建模及动态仿真.计算机仿真,2002.5.
[38] 刘勇,丛望.螺旋桨负载特性动态仿真实验的研究.船电技术2002.4.
[39] 董国祥,陆惠生,汪希龄.紧急停船运动数学模型及其仿真研究.上海交通大学学报,1996.5.
[40] 任旭东,陈刚.船舶推进系统的选择.世界海运,2004.8.
[41] 王长林.柴油机船舶推进装置的建模和实时仿真.船舶工程,1996.6.
[42] 王长林,刘永文,翁史烈.四冲程船用柴油机的建模和实时仿真.中国造船,1997.11.
[43] 覃峰,詹志刚,杨波,肖金生.基于遗传算法的船舶推进系统船、机、桨匹配优化设计.武汉理工大学学报(交通科学与工程版),2003.2.
[44] 陆金铭.船舶推进装置的MATLAB仿真.船舶工程,2002.5.
[2] 吴恒.船舶动力装置技术管理.大连海事大学出版社,1999.
[3] 翁史烈.船舶动力装置仿真技术.上海交通大学出版社,1991.
[4] 郑智琴.Simulink电子通信仿真与应用.国防工业出版社[J],2002.
[5] 吴伯才.船舶液压推进的可行性探讨.宁波大学学报,2002,15(2):76-78.
[6] 贾欣乐,杨盐生.船舶运动数学模型-机理建模与辨识建模.大连海事大学出版社,1999.
[7] Passino Kevin M,Yurkovich Stephen.Fuzzy control.北京:清华大学出版社,2001.
[8] 薛定宇.控制系统计算机辅助设计—MATLAB语言及应用.北京:清华大学出版社,1996.
[9] 施阳.MATLAB语言精要及动态仿真工具A I M U L I N K[M].西北工业大学出版社,1999.
[10] 陶永华.新型PID控制及其应用.机械工业出版社,1999.
[11] Wang Xue Zhi, Cui Zhi She, Xu Yong. The Application of the Man-simulated Intelligent Control to Electro-hydraulic Servo System. 1997 IEEE Internationl Conference on Intelligent Processing Systems, October 28-31, Beijing, China.
[12] 德兰斯菲尔德.液压控制系统的设计与动态分析.大连工学院液压教研室译.北京:科学技术出版社,1987.3.
[13] Y. Jen, C. Lee. Robust speed control of a pump-controlled motor system. IEE PROCEEDINGS-D, Vol. 139, No. 6, NOVEMBER 1992.
[14] 徐绍佐.船舶综合电力推进系统综述.柴油机,2004.2.
[15] Xiuming REN, Zhihua WANG. Multi-Stage PM Disc Motor for Ship Propulsion Application.
[16] Meihua Tai, Pushkar Hingwe, Masayoshi Tomizuka. Modeling and Control of Steering System of Heavy Vehicles for Automated Highway Systems. IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 9, NO. 4, DECEMBER 2004.
[17] M.J. Jin, W. Hu, F. Liu, S.W. Mei and Q. Lu. Nonlinear co-ordinated control of excitation and governor for hydraulic power plants. IEE Proc.-Gener. Transm. Distrib. Vol. 152, No. 4, July 2005.
[18] 廖晓钟,刘向东.自动控制系统.北京理工大学出版社,2005.
[19] 陈强,解云龙,廖宝剑,郭建政.机械系统的微机控制.清华大学出版社,1998.
[20] 王立新著,王迎军译.模糊系统与模糊控制教程.清华大学出版社,2003.
[21] 贺利乐.建设机械液压与液力传动.机械工业出版社,2004.
[22] 邵俊鹏,徐星辉,贾慧娟.MATLAB在模型参考模糊自适应控制系统仿真中的应用.计算机仿真,2003.1.
[23] 吴小平,杨松林,郭小东.高速船运动在线联机预报及其控制仿真.计算机仿真,2004.4.
[24] 李祖欣.MATLAB在模糊控制系统设计和仿真的应用.系统仿真学报,2003.1.
[25] 陈跃东,郎朗.用FUZZY-PID控制器实现控制参数的自整定.安徽机电学院学报,2002.9.
[26] 金立生,赵丁选,丁德胜,叶忠军.液压挖掘机节能参数自适应模糊PID控制器研究.农业工程学报,2003.11.
[27] 陈鹰,许宏,陶国良等.压缩空气动力汽车的研究与发展.机械工程学报,2002.11.
[28] 亢海伟,杨庆芬,王硕禾.基于MATLAB模糊逻辑工具箱的模糊控制系统仿真.自动化与仪器仪表,2000.2.
[29] 刘文良,王杰.Simulink中一般模型的创建方法及其在系统仿真中的应用.天津轻工业学院学报,1999.4.
[30] 张绍裘,吴冉泉,吴小洪,曾焕浪,樊放明.带液压伺服补偿的等流量双泵同步系统的研究.液压气动与密封,2000.4.
[31] 李天石,黎晖,王昌.一种学习控制器及其在液压同步控制中的应用.西安交通大学学报,1995.7.
[32] 刘春娟,顾生杰.非时称模糊PID控制在二质量伺服系统中的应用.自动化与仪器仪表,2005.3.
[33] 侯北平,卢佩,付连昆自适应模糊PID控制器的设计及基于MATLAB的计算机仿真.天津轻工业学院学报,2001.12.
[34] 王天奎,顾建民.船舶超导磁流体推进技术展望.船舶工程,1994.5.
[35] 朱亚莉,李巍,张维竞,张燕燕.舰船推进装置仿真技术的发展.计算机应用,2001.5.
[36] 刘柱.船舶喷水推进技术发展.水路运输文摘,2004.
[37] 张维竞,陶鸿莹,朱亚莉.某船推进装置的建模及动态仿真.计算机仿真,2002.5.
[38] 刘勇,丛望.螺旋桨负载特性动态仿真实验的研究.船电技术2002.4.
[39] 董国祥,陆惠生,汪希龄.紧急停船运动数学模型及其仿真研究.上海交通大学学报,1996.5.
[40] 任旭东,陈刚.船舶推进系统的选择.世界海运,2004.8.
[41] 王长林.柴油机船舶推进装置的建模和实时仿真.船舶工程,1996.6.
[42] 王长林,刘永文,翁史烈.四冲程船用柴油机的建模和实时仿真.中国造船,1997.11.
[43] 覃峰,詹志刚,杨波,肖金生.基于遗传算法的船舶推进系统船、机、桨匹配优化设计.武汉理工大学学报(交通科学与工程版),2003.2.
[44] 陆金铭.船舶推进装置的MATLAB仿真.船舶工程,2002.5.