【摘要】：近年來,海島歸屬、海域劃界爭議、海洋資源爭端等一系列海洋爭端問題成為人們關注的焦點。中國海監(jiān)總隊負責依法進行海上巡航監(jiān)視,維護海上秩序。作為驅(qū)離打擊敵船的海監(jiān)船防暴水炮的作用日顯突出。目前鑒于海監(jiān)船水炮的控制方式主要是以人控為主,不適合復雜多變的海上環(huán)境,因而對海監(jiān)船防暴水炮自動跟蹤控制系統(tǒng)的研究具有很好的的理論意義與實際價值。本課題根據(jù)海監(jiān)船水炮的使用環(huán)境以及控制的要求,設計并研發(fā)了一種海監(jiān)船防暴水炮自動跟蹤控制系統(tǒng)。論文主要涉及水炮的聯(lián)動模塊,綜合考慮空氣阻力、風力、壓力、流量、俯仰角度等因素建立了一套水炮射流理論模型,并對射程的眾多影響因素加以分析;以云臺系統(tǒng)的信息獲得目標的距離,將其作為水炮應有射程,依據(jù)水炮射流模型確定射程所對應的俯仰角度。通過七參數(shù)Bursa模型建立水炮與云臺之間的坐標轉(zhuǎn)換模型,從云臺的實時信息中得到目標在水炮坐標系中的實時位置,依據(jù)位置所處的不同象限分別確定水炮應轉(zhuǎn)的水平方位角度。設計PLC與變頻器控制模塊的軟件部分,從而達到控制水炮轉(zhuǎn)速以及轉(zhuǎn)向的目的。使用三維電子羅盤實時反饋水炮的實際角度位置,運用具有死區(qū)環(huán)節(jié)、飽和環(huán)節(jié)、比例環(huán)節(jié)以及積分環(huán)節(jié)的控制算法,控制水炮平穩(wěn)快速的轉(zhuǎn)動到應轉(zhuǎn)位置,實現(xiàn)水炮的相對精確定位。最后初步探討了依據(jù)圖像處理反饋的水炮落水點與目標位置偏差微調(diào)水炮角度的方案。在.NET框架下運用C#語言的多線程編程方式開發(fā)了系統(tǒng)上位機應用軟件。將自動控制模式、手動控制模式、參數(shù)設計、幫助文檔、數(shù)據(jù)庫等功能集于一體,提高了系統(tǒng)的實用性與靈活性。通過多次實驗,驗證了水炮射流模型的正確性;同時通過水炮定位實驗驗證了水炮應轉(zhuǎn)角度確定方法的正確性,在定位實驗中,通過多次試驗選取了合適的控制參數(shù)。系統(tǒng)的整體軟硬件聯(lián)調(diào)表明,論文設計的海監(jiān)船水炮系統(tǒng)實現(xiàn)了基本的功能,且運行平穩(wěn),具有良好的實時性。
[Abstract]:In recent years, a series of maritime disputes, such as island ownership, maritime delimitation dispute, marine resources dispute and so on, have become the focus of attention. The China Maritime Surveillance Corps is responsible for maritime patrol and surveillance in accordance with the law to maintain maritime order. The role of anti-riot water cannon, a marine surveillance vessel, is becoming more and more prominent as it is used to drive off enemy ships. At present, in view of the fact that the control mode of marine surveillance vessel water cannon is mainly human control, it is not suitable for the complicated and changeable sea environment, so the research on automatic tracking control system of marine surveillance ship anti-riot water cannon has good theoretical significance and practical value. According to the use environment and control requirements of marine surveillance ship water cannon, an automatic tracking control system of sea surveillance ship anti-riot water gun is designed and developed in this paper. The paper mainly deals with the linkage module of water cannon. Considering the factors of air resistance, wind force, pressure, flow rate, pitch angle and so on, a set of theoretical model of water cannon jet is established, and many factors affecting the range of water cannon are analyzed. The distance of the target is obtained by the information of the cloud head system, which is regarded as the range of the water cannon, and the pitching angle corresponding to the range is determined according to the jet model of the water cannon. The coordinate transformation model between water cannon and cloud head is established by seven-parameter Bursa model, and the real-time position of target in water gun coordinate system is obtained from the real-time information of cloud head. The horizontal azimuth angle of the water cannon should be determined according to the different quadrant of the position. The software part of PLC and inverter control module is designed to control the rotating speed and steering of water cannon. The three-dimensional electronic compass is used to feedback the actual angle position of the water cannon in real time, and the control algorithm with dead-zone, saturation, proportional and integral links is used to control the steady and rapid rotation of the water cannon to the desired position. The relative precise positioning of water cannon is realized. Finally, a scheme to fine-tune the angle of the water cannon based on the feedback of image processing is discussed, which is based on the deviation between the falling point of the water gun and the target position. The application software of the host computer is developed by using C # language multi-thread programming mode under. Net framework. The functions of automatic control mode, manual control mode, parameter design, help document, database and so on are integrated, and the practicability and flexibility of the system are improved. Through many experiments, the correctness of the water gun jet model is verified; at the same time, the correctness of the method of determining the rotation angle of the water gun is verified by the positioning experiment of the water gun; in the positioning experiment, the appropriate control parameters are selected by many experiments. The whole hardware and software co-adjustment of the system shows that the watercannon system designed in this paper realizes the basic functions and runs smoothly and has good real-time performance.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：U664.82;TP273

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