基于PC机的船舶舵机系统动态仿真研究
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摘要
随着电子技术及信息技术的飞速发展及计算机技术的广泛应用,计算机仿真技术的越来越引起关注。轮机仿真训练器是计算机仿真技术在航海领域的典型应用之一,目前己成为培训、考核广大船员的重要手段。轮机模拟器主要模拟主推进装置、集控室、船舶电站等设备的性能,船舶舵机系统仿真是其中重要的组成部分。基于上述事实,对船舶舵机系统进行建模与仿真研究和设计一套能满足学生操作实习、学员培训等功能的船舶舵机软件仿真系统是很有必要的。
本文以大连远洋公司“连运湖”号大型远洋油轮的拨叉式液压舵机为仿真对象,根据拨叉式液压舵机的结构特点、工作过程以及操作要求,分析了转舵机构的转动原理和液压系统的特性,采用模块化和集中参数建模方法,通过机理分析,在一定简化条件下,建立了船舶液压舵机系统的动态数学模型。另外,为建立船舶自动操舵系统的模型,在MMG船舶运动模型的基础上,根据实船操纵性指数K、T,建立了船舶运动模型的一阶模型。
在已建立的动态数学模型基础上,通过采用Matlab/Simulink实时仿真工具对船舶舵机系统进行了仿真,建立了相应的动态仿真模型,采用了模块化建模方法,详细地介绍了搭建各个子模块的实时仿真模型的方法和过程;将各个子模块连接起来构成整个舵机仿真模型,将仿真结果与SOLAS公约对舵机的相关要求相比较,可知所建舵机数学模型符合SOLAS公约要求。另外,通过回转实验和“Z”型操纵实验,证明了建立的一阶船舶运动模型正确性和适用性。
在数学模型较为正确的基础上,根据Matlab仿真实验结果,提出了整个仿真系统的设计思想和方法,叙述了其结构组成和各个部分的功能。利用MicrosoftVisual C#.Net编程语言完成了船舶舵机仿真软件的设计。该仿真软件由三部分组成:人机交互界面、仿真模型和数据库。人机交互界面友好,通过界面显示操作过程和实时数据,通过仿真模型对舵机运动过程进行动态仿真,为界面提供需要实时显示的数据,响应界面做出的各种操作,并将计算出的数据和界面进行的操作送入数据库记录下来,以完成对舵机操作和故障报警的记录。
With the rapid development of information technology and the wide use of computer, the application of Computer Simulation is increasingly popular. The engine room simulator is one of the typical examples of Computer Simulation in the field of navigation, and has become an important way to train and examine most sailors. The engine room simulator mainly simulates the performance of the main propulsion, engine room, ship power station and so on. Part contents are about the steering gear system simulation in engine room simulator. Therefore, it is essential to carry research on the modeling and the simulation to the steering gear system. It is also necessarily to build software about the steering gear system for student's practice and evaluation.
The simulations object in this paper is the fork type rudder hydraulic actuator of theship "LIANYUNHU" belonging to the Dalian Ocean Shipping Company. According toits characteristics of structure, work process and the requirements of operation, theturning theory of actuator and hydraulic system are analyzed. Then using the methodof modular modeling and lumped parameter modeling, the author establishes thedynamic math model of steering gear system. In addition, in order to build the mathmodel of autopilot and based on the MMG ship motion model, the mathematicalmodel of the linear equation of the ship maneuvering motion is established.
On the basis of established dynamic math model, the author establishes the simulation model of steering gear system applying the tool of Matlab/Simulink and introduces the method and process of building real-time simulation model for each sub-module detail. Through setting reasonable simulation parameters and algorithm, the author carries the real-time simulation experiment on the computer. The result indicates that each dynamic process conforms to dynamic response process of the ship steering gear system. Compared with demand of speed of rudder movement in SOLAS regulation, the mathematical model of steering gear is right and effective. In addition, according to the result of "turning circle" operation and "Z" operation, the mathematical model of ship motion is right and appropriate.
At last, the author has designed a real-time simulation system of steering gear system based on the correct math model and appropriate simulation result in Matlab, proposed the designing thought and method of the whole simulation system and introduced the software's structure and function of each part. Using the programming language Visual C#, the author has completed the design of the software about the steering gear system. This software is composed of man-machine conversation interface、simulation model and database. The man-machine conversation is all right and it is used to display the real time datum and the process of operation. The model is used to simulate the actual system of rudder and calculate the datum for the interface. When the interface is operating, the model will respond. The database is used to note the datum and the operations. The user can check the datum and operations expediently.
本文以大连远洋公司“连运湖”号大型远洋油轮的拨叉式液压舵机为仿真对象,根据拨叉式液压舵机的结构特点、工作过程以及操作要求,分析了转舵机构的转动原理和液压系统的特性,采用模块化和集中参数建模方法,通过机理分析,在一定简化条件下,建立了船舶液压舵机系统的动态数学模型。另外,为建立船舶自动操舵系统的模型,在MMG船舶运动模型的基础上,根据实船操纵性指数K、T,建立了船舶运动模型的一阶模型。
在已建立的动态数学模型基础上,通过采用Matlab/Simulink实时仿真工具对船舶舵机系统进行了仿真,建立了相应的动态仿真模型,采用了模块化建模方法,详细地介绍了搭建各个子模块的实时仿真模型的方法和过程;将各个子模块连接起来构成整个舵机仿真模型,将仿真结果与SOLAS公约对舵机的相关要求相比较,可知所建舵机数学模型符合SOLAS公约要求。另外,通过回转实验和“Z”型操纵实验,证明了建立的一阶船舶运动模型正确性和适用性。
在数学模型较为正确的基础上,根据Matlab仿真实验结果,提出了整个仿真系统的设计思想和方法,叙述了其结构组成和各个部分的功能。利用MicrosoftVisual C#.Net编程语言完成了船舶舵机仿真软件的设计。该仿真软件由三部分组成:人机交互界面、仿真模型和数据库。人机交互界面友好,通过界面显示操作过程和实时数据,通过仿真模型对舵机运动过程进行动态仿真,为界面提供需要实时显示的数据,响应界面做出的各种操作,并将计算出的数据和界面进行的操作送入数据库记录下来,以完成对舵机操作和故障报警的记录。
With the rapid development of information technology and the wide use of computer, the application of Computer Simulation is increasingly popular. The engine room simulator is one of the typical examples of Computer Simulation in the field of navigation, and has become an important way to train and examine most sailors. The engine room simulator mainly simulates the performance of the main propulsion, engine room, ship power station and so on. Part contents are about the steering gear system simulation in engine room simulator. Therefore, it is essential to carry research on the modeling and the simulation to the steering gear system. It is also necessarily to build software about the steering gear system for student's practice and evaluation.
The simulations object in this paper is the fork type rudder hydraulic actuator of theship "LIANYUNHU" belonging to the Dalian Ocean Shipping Company. According toits characteristics of structure, work process and the requirements of operation, theturning theory of actuator and hydraulic system are analyzed. Then using the methodof modular modeling and lumped parameter modeling, the author establishes thedynamic math model of steering gear system. In addition, in order to build the mathmodel of autopilot and based on the MMG ship motion model, the mathematicalmodel of the linear equation of the ship maneuvering motion is established.
On the basis of established dynamic math model, the author establishes the simulation model of steering gear system applying the tool of Matlab/Simulink and introduces the method and process of building real-time simulation model for each sub-module detail. Through setting reasonable simulation parameters and algorithm, the author carries the real-time simulation experiment on the computer. The result indicates that each dynamic process conforms to dynamic response process of the ship steering gear system. Compared with demand of speed of rudder movement in SOLAS regulation, the mathematical model of steering gear is right and effective. In addition, according to the result of "turning circle" operation and "Z" operation, the mathematical model of ship motion is right and appropriate.
At last, the author has designed a real-time simulation system of steering gear system based on the correct math model and appropriate simulation result in Matlab, proposed the designing thought and method of the whole simulation system and introduced the software's structure and function of each part. Using the programming language Visual C#, the author has completed the design of the software about the steering gear system. This software is composed of man-machine conversation interface、simulation model and database. The man-machine conversation is all right and it is used to display the real time datum and the process of operation. The model is used to simulate the actual system of rudder and calculate the datum for the interface. When the interface is operating, the model will respond. The database is used to note the datum and the operations. The user can check the datum and operations expediently.
引文
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[3]王和平.基于PC机的船舶主机的仿真与研究:(硕士学位论文).大连:大连海事大学,2006.
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[10]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:(硕士学位论文).大连:大连海事大学,2006.
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[17]蒋丹东.船舶航迹控制:(博士学位论文).大连:大连海事大学,1997.
[18]郑为民.船舶操作系统的最优控制:(硕士学位论文).大连:大连海事大学,2000.
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[20]W.J.Chang,K.Y.Chang.Variable Structure Control with Performance Constraints for Perturbed Ship Steering Systems.J.of the Society of Naval Architects and Marine Engineers,1998,17(3):45-55.
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[28]林业锦,任光.基于SimulinK的船舶运动控制的仿真研究.系统仿真学报,2003,15(6):837-840.
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[30]贾欣乐,杨盐生著.船舶运动数学模型——机理建模与辨识建模.大连:大连海事大学出版社,1999.
[31]付卫华.船舶操纵运动数值模拟:(硕士学位论文).武汉:武汉理工大学.2003.
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