【作者】 徐光；

【导师】 梁利华；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2007， 硕士

【摘要】 船舶操纵系统是船舶上非常重要的船舶运动控制系统。船舶运动动态特性除了与航行工况密切相关外，还受风、浪、流等各种干扰，所受到的水动力负载和干扰情况非常复杂。这使得船舶操纵系统中存在着很多不确定性，所以船舶操纵是极其复杂的运动，给船舶的运动控制带来了一定的难度。为在经济和可靠的前提下，实施对船舶的有效操纵控制，本文以某型船为例，对操舵系统和船舶航向控制系统的控制方法进行了设计。本文分析了操舵系统的组成和工作原理，并根据泵控型舵机电液伺服系统的组成，完成了变量泵排量控制系统、操舵系统的建模，最终建立了液压操舵系统的传递函数模型。通过对航向控制系统的分析，分别建立了船舶运动、船舶外界环境干扰以及自动舵系统的数学模型。在经典PID控制理论的基础上，进行了操舵系统和航向控制系统的PID设计以及仿真分析。通过仿真分析表明，由于系统中存在的参数不确定性以及干扰的作用，使得经典PID控制的操舵系统以及航向控制系统的精度较差。为了提高操舵系统的鲁棒性、鲁棒性能以及航向控制系统的抗干扰性，通过对操舵系统不确定性的分析，采用鲁棒控制理论分别设计了操舵系统和自动舵系统的鲁棒控制器。通过PID控制器和鲁棒控制器的仿真对比，鲁棒控制器不仅能在参数摄动时保持系统的稳定性，而且提高了操舵系统的跟随精度等性能，并且验证了采用鲁棒控制器的操舵系统可以作为闭环与整个自动舵系统实现较好匹配，保证了自动舵系统不仅在随动状态，而且在航向控制状态都有较强的鲁棒性，具有良好的操纵性能。更多还原

【Abstract】 The heading control of the ship is very important motion control system of the ship. Except closely related to the sail conditions, the dynamic motion characteristics are subjected to disturbances such as ocean wind, ocean wave and ocean current. So the hydro-dynamic load and disturbance are complicated. These make much uncertainties occur in the heading control system. It is hardly to control the motion of the ship because the heading control is so complicated. In order to control effectively on the premise of economization and failsafe, the steering system and heading control system are designed in this paper taking example for one ship.- The compose and working principle of the steering system are analyzed. The displacement control system of the variable-displacement pump and the steering system are modeling. Then the transfer function model of hydraulic steering system is set up. Through the analysis of the heading control system, the mathematic model of ship motion, environmental disturbance and automatic pilot system are established respectively. On the basis of classical PID control theory, the PID controllers of steering system and heading control system are designed and simulated. It is showed that the precision of the PID controllers is low for the parametric uncertainties and disturbances. To improve the robustness and robust performances of steering system, the robust controller based on H_∞mixed sensitivity for the steering system is proposed through the analysis of uncertainties. And the robust controller for automatic pilot system is to improve the interference immunity. Compared with the PID controllers, the robust controller not only can stabilize when parameters are perturbed, but also improve the tracking accuracy of the steering system. It is testified that the steering system with robust controller can match well with the automatic pilot system as a close-loop system. It has stronger robustness and good performances of operation in the followup and heading control state.更多还原