【作者】 林守利；

【导师】 唐宗军；

【作者基本信息】 沈阳工业大学 ， 机械电子工程， 2003， 硕士

【摘要】 舰船是经常处在风浪的环境条件下航行和战斗的。在随机海浪的扰动下，船舶在海上不可避免地会发生摇荡运动，造成船体的倾斜。尤其是对大量的小型舰船，船体的最大倾角甚至可达到15°以上。在实战中，船舶的摇荡将造成炮手对船载火炮的操纵性能降低，降低火炮的发射命中率，影响到船载火炮威力的发挥。 通过直接控制固连于船体的火炮，使其始终保持在水平状态，可以提高实战中火炮的操纵性能，提高火炮的命中率。本文建立了随机海浪作用下船上物体保持水平状态的预测控制系统。应用控制理论通过预测随机海浪扰动下船舶的横摇、纵摇运动的摇角值，按照所设计的控制规律实现在不受实际海况限制的情况下调整船上物体的空间位置，使此物体保持水平状态的目的。 本文根据统计叠加理论，采用ITTC单参数标准海浪谱仿真模拟实际的长峰波随机海浪，进而实时仿真长峰波随机海浪对船舶的随机扰动，对船舶在海浪中的横摇和纵摇运动进行了时域仿真，得到船舶摇荡运动的横摇角信号θ(t)和纵摇角信号φ(t)。 对于船舶摇荡运动这一动态过程，采用时间序列分析的方法，建立系统的自回归模型(AR模型)，并根据最小AIC信息量判定准则保证建立的系统模型为最优化模型。利用参数模型的方式对船舶横摇、纵摇运动的动态数据进行分析处理，揭示船舶摇荡运动的规律，预测船舶横摇角、纵摇角的未来值。然后将摇角的预测值转化为保持船上物体水平所需要的调节量，按照合适的控制规律对船上物体进行控制调节。 本文建立的自回归模型可以很好的预测船舶的摇荡运动趋势。通过预测控制系统对船上火炮(或其他需要保持水平的物体)的控制调节，可以保证此物体始终处于水平状态附近，使炮手对火炮的操纵精度提高，大大提高火炮的实战命中率。此系统的研究是对船上物体进行实时智能控制的一次探索，控制过程简单方便，有较高的实用价值。更多还原

【Abstract】 The ship often is sailed and fought in the wind wave . With the disturbance of random wave the ship will inevitably roll and result in the ship’s incline, especially, for small ships which the most obliquity of the ship is likely to reach above degree 15.In the actual combat the rolling movement of the ship will result in difficult control of the artillery for the artillerymen on the ship, reduce the artillery’s probability of shots, and affect the power of the artilleryBy direct control of the object (artillery) fixed on the ship it can be kept horizontal state all the time. As a result, it can improve the controlling quality of artillery and increase its probability of shots. This paper brings up a predictive control system that makes the object keep horizontal state on the sailing ship in random wave. On the basis of cybernetics through forecast roll and pitch of a ship and by adjusting the object’s space position and keep its horizontal state without limit of actual sea state according to the control rules with the predictive value of ship’s roll angle and pitch angle.This paper applies ITTC single-parameter ocean wave spectrum to simulate a random long-crested ocean wave according to statistics superposition theory and real-time simulate disturbance on the ship by random wave. It simulates roll and pitch of the ship in random wave in the time domain and gains roll angle (t) and pitch angle (t) signal of ship rolling movement.For the dynamic process of ship rolling movement, this paper analyses its dynamic date with time series analysis method and brings up this system’s the most excellent Autoregressive model (AR model) according to least AIC criterion (Akaile , information criterion).It reveals the regular pattern of ship rolling movement and forecasts the future value of roll angle and pitch angle, then transforms it to adjusting value of object and adjusting it according to appropriate control rules.The AR model can comparatively well forecast the movement trend of actual ship’s rolling. Through this predictive control system controlling and adjusting the artillery (or other objectthat requires keeping horizontal state) can make it keep about horizontal state all the time and make artillerymen easily control the artillery and consumedly increase the probability of shots in the actual combat. This system is a exploration in the field of real-time intellectual control of object on the ship, its control process is simple and convenient ,and it has a high applied value.更多还原