本文關鍵詞：船舶橫搖運動建模與控制仿真研究　出處：《大連海事大學》2014年碩士論文　論文類型：學位論文

  更多相關文章： 船舶橫搖運動 長峰波隨機海浪 減搖鰭 監(jiān)督控制

【摘要】：船舶在海面上行駛時會受到風、浪、流等諸多因素的干擾而搖蕩,給船上的人、貨物和設備等帶來不利的影響。因此,人們一直在尋找減小船舶搖蕩的方法。而船舶的眾多形式的搖蕩運動中,橫搖對船舶安全航行的影響因素最大。減小船舶橫搖是目前船舶運動控制領域的重要課題之一。本文以船舶減搖鰭控制系統(tǒng)作為研究對象,對于船舶的橫搖運動建模及減搖控制進行了深入的研究。 要研究船舶的橫搖運動,需要研究海浪對船舶的影響,海浪是船舶橫搖的主要原因,建立理想實用的海浪擾動數(shù)學模型,是進行船舶橫搖運動研究的基礎條件。在進行船舶橫搖減搖控制研究時,必須深入研究船舶的橫搖運動,建立橫搖減搖的控制模型。當船舶的橫搖運動角度較小時,可以應用線性橫搖理論來分析船舶的橫搖運動。但當船舶的橫搖運動角度較大時(如大于8度),許多非線性因素就突出來了,利用線性橫搖模型不能很好地反映船舶的橫搖特性。根據(jù)以上原因,本文首先基于波能譜分析理論,建立長峰波隨機海浪擾動模型,對不同海情的波高和波傾角進行了建模和數(shù)字仿真；分析了海浪擾動下的船舶橫搖運動、建立了船舶橫搖運動數(shù)學模型,并進行了仿真；在此基礎上,論文以減搖鰭控制系統(tǒng)為研究對象,采用傳統(tǒng)的PID方法對船舶橫搖進行控制,在特定的船舶參數(shù)與海況工況下取得了較好的減搖效果�？紤]到船舶橫搖運動的復雜性、非線性、時變性和海況的不確定性,采用了基于RBF神經(jīng)網(wǎng)絡與PID控制器的監(jiān)督控制,仿真結(jié)果表明控制系統(tǒng)能夠克服傳統(tǒng)PID控制器適應性差的缺點,具有較好的容錯性和較強的適應非線性的能力。
[Abstract]:When a ship travels on the sea, it will be disturbed by wind, waves, currents and many other factors, which will bring adverse effects to the people, goods and equipment on board. People have been looking for ways to reduce the swaying of ships. Rolling has the greatest influence on the safety of ship navigation. Reducing ship rolling is one of the most important topics in the field of ship motion control. This paper takes the ship fin stabilizer control system as the research object. The rolling motion modeling and anti-rolling control of ship are studied deeply. In order to study the rolling motion of a ship, it is necessary to study the influence of the wave on the ship. The wave is the main reason of the ship rolling, and an ideal and practical mathematical model of wave disturbance is established. It is the basic condition to study the rolling motion of ships. In the research of rolling control of ships, it is necessary to deeply study the rolling motion of ships. When the rolling angle of the ship is small, the linear rolling theory can be applied to analyze the rolling motion of the ship, but when the angle of the ship's rolling motion is large (such as more than 8 degrees). Many nonlinear factors are prominent, the linear rolling model can not well reflect the rolling characteristics of the ship. Based on the above reasons, this paper first based on the theory of wave energy spectrum analysis. The random wave disturbance model of long peak wave is established, and the wave height and wave dip angle of different sea conditions are modeled and simulated. The ship rolling motion under wave disturbance is analyzed, the mathematical model of ship rolling motion is established, and the simulation is carried out. On this basis, the paper takes the fin stabilizer control system as the research object, adopts the traditional PID method to control the ship roll. A better anti-rolling effect is obtained under certain ship parameters and sea conditions. Considering the complexity, nonlinearity, time-varying and uncertainty of ship rolling motion. The supervisory control based on RBF neural network and PID controller is adopted. The simulation results show that the control system can overcome the shortcomings of the traditional PID controller's poor adaptability. It has good fault tolerance and strong ability to adapt to nonlinear.
【學位授予單位】：大連海事大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U661.321

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