本文選題：伺服控制 + 全回轉(zhuǎn)推進器　； 參考：《武漢理工大學》2014年碩士論文

【摘要】：隨著海洋開發(fā)的進一步增強，，對于具有船舶動力定位功能船只需求大量增加，船舶動力定位系統(tǒng)中執(zhí)行機構(gòu)推進器在動力定位系統(tǒng)中起到非常關鍵的作用，如何使動力定位系統(tǒng)中全回轉(zhuǎn)推進器舵角快速、穩(wěn)定地轉(zhuǎn)動到期望的角度成為近年來動力定位系統(tǒng)中研究的一個熱點課題。 分析了控制系統(tǒng)的組成結(jié)構(gòu)，針對目前控制系統(tǒng)中驅(qū)動電路穩(wěn)定性問題，提出了一種雙余度的設計方案，確定了方案中控制器以及相關傳感設備的選型，并進一步設計了部分硬件接口電路，并對系統(tǒng)的軟件方案和系統(tǒng)的保護電路進行了介紹。 分析了系統(tǒng)的特點，針對系統(tǒng)具有啟停頻繁、負載不斷改變、且系統(tǒng)對響應速度和精度要求高的特點，設計了三閉環(huán)的控制結(jié)構(gòu)，從內(nèi)到外分別為電流環(huán)、速度環(huán)、位置環(huán)。在各個閉環(huán)的控制器算法設計上，電流環(huán)采用積分分離的PI的控制算法，速度閉環(huán)采用的是bang-bang控制與積分分離PI控制相結(jié)合的控制算法，位置閉環(huán)采用的是神經(jīng)網(wǎng)絡PID的控制算法。 分析并建立了控制系統(tǒng)中各個部分的數(shù)學模型，在SIMULINK中搭建了各個環(huán)節(jié)，采用先內(nèi)環(huán)后外環(huán)的方法對系統(tǒng)的參數(shù)整定方法對系統(tǒng)進行仿真。針對SIMULINK不能準確地反映系統(tǒng)元器件的參數(shù)以及系統(tǒng)的性能問題，利用POWER SYSTEM內(nèi)豐富的元器件模塊，獲得了更為實際的運行結(jié)果。 仿真結(jié)果表明，在電流閉環(huán)積分分離的PI控制算法可以適應電流環(huán)變化快的特點，速度環(huán)采用bang-bang控制與積分分離PI控制算法相結(jié)合的算法可以有效提高速度環(huán)的響應速度，位置環(huán)采用神經(jīng)網(wǎng)絡PID的控制算法可以獲得良好的控制精度。綜上，系統(tǒng)多閉環(huán)的控制結(jié)構(gòu)與不同的控制算法可以有效地解決系統(tǒng)負載變化、啟停頻繁的問題，使具有良好的跟隨特性。
[Abstract]:With the further enhancement of marine development, the demand for ships with the function of ship dynamic positioning has increased greatly, and the actuator propeller plays a very important role in the dynamic positioning system.In recent years, how to make the rudder angle of the full rotary propeller in the dynamic positioning system quick and stable to the desired angle has become a hot topic in the research of the dynamic positioning system in recent years.This paper analyzes the structure of the control system, aiming at the stability of the drive circuit in the current control system, puts forward a design scheme of double redundancy, and determines the selection of the controller and the related sensor equipment in the scheme.Furthermore, some hardware interface circuits are designed, and the software scheme and protection circuit of the system are introduced.The characteristics of the system are analyzed. Aiming at the characteristics that the system has the characteristics of frequent start and stop, constant change of load, and the system requires high response speed and precision, a three-loop control structure is designed, which consists of current loop, velocity loop and position loop from the inside to the outside, respectively.In the controller algorithm design of each closed loop, the current loop adopts the Pi control algorithm of integral separation, the speed closed loop adopts the control algorithm which combines bang-bang control and integral separated Pi control.The position closed loop adopts the control algorithm of neural network PID.The mathematical models of each part of the control system are analyzed and established. Each link is set up in SIMULINK. The method of setting the parameters of the system is used to simulate the system by the method of first inner loop and then outer loop.Aiming at the problem that SIMULINK can not accurately reflect the parameters of system components and the performance of the system, a more practical operation result is obtained by using the abundant component modules in POWER SYSTEM.The simulation results show that the Pi control algorithm with current closed loop integral separation can adapt to the fast change of current loop, and the speed loop can effectively improve the response speed of speed loop by combining bang-bang control and integral separation Pi control algorithm.The position loop can obtain good control precision by using the control algorithm of neural network PID.To sum up, the control structure of the system with multiple closed loops and different control algorithms can effectively solve the problem of system load change and frequent start and stop, so that the system has good following characteristics.
【學位授予單位】：武漢理工大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U664.82

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