【作者】 孔琳；

【导师】 刘胜；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2009， 硕士

【摘要】 由于船舶行驶时航行工况和海洋情况复杂多变,使得船舶运动信息的处理十分繁琐,如何实时、准确、方便地对船舶进行运动控制和信息处理,成为船舶控制系统需要解决的关键性问题。针对上述问题,本文主要研究设计船舶航向/横摇控制系统信息处理系统,为实现复杂的控制算法和简洁的操作界面等目标进行了系统的软硬件设计。船舶航向/横摇控制系统信息处理系统基于船舶舵/翼舵-鳍/翼鳍联合控制模型,在MATLAB环境下进行了系统仿真,验证了控制算法的可行性。在此基础上,本文设计了基于工控机的信息处理硬件系统,并将仿真方法采用C++语言编制,在VC++环境下进行了信息处理系统的软件开发。信息处理系统是船舶航向/横摇控制系统的核心部分。本文基于研华610H型工控机和PCI-1716、PCI-1723型板卡设计了信息处理系统硬件的总体方案,对板卡进行了驱动、测试等工作,设计了传感器—工控机的A/D转换通道、工控机—伺服系统的D/A转换通道。按照模块化程序设计的思想,本文设计了信息处理系统软件编制的总体方案,对算法模块、通信模块、人机界面模块等进行了调用,为仿真结果的实际应用创造了可行性。舵角/翼舵角、鳍角/翼鳍角智能分配控制是信息处理系统的核心。在船舶舵/翼舵—鳍/翼鳍联合控制模型的基础上,按照基本遗传算法的相关理论,本文设计了信息处理系统中算法的实现流程。采用程序语言与控制模型相结合的设计思路,确定了智能分配控制的适应度函数和各种矩阵。本文基于工控机在Visual C++6.0环境下开发了算法控制程序、数据采集卡的驱动程序、中断程序、接口程序等,为系统的软硬件调试做好了铺垫。设计了VC++环境下的人机界面,以对话框方式输入初始参数,可对试验参数进行保存与查看,以曲线形式显示试验结果,并与视景仿真系统进行通信。最终实现形式符合系统设计目标。更多还原

【Abstract】 The complicated variable working condition and circumstance of the sea make Intelligent Information Processing System tedious. How to control ship and process information accurately and conveniently becomes the key point to settle for ship control system. Aiming at the problem mentioned above, an information process system, including software and hardware, is designed for ship course/roll control system to realize complex control algorithm and succinct operation interface.Information processing system of ship course/roll control system is based on the combined controlling model of main/flap rudder angles and main/flap. The control algorithm was proved to be valid by simulation in MATLAB. Then an information processing system based on industrial computer was designed and simulated by C++. The software construction of information processing system was designed under the circumstance VC++.Intelligent information processing system is the core of ship course/roll control system. Based on industrial computer 610H and data acquisition card PCI 1716 and PCI 1723, general scheme for hardware of the system was designed. The data acquisition card was driven and tested, and A/D and D/A conversion in sensor-industrial computer-servo system was realized. According to modular programming thinking, general scheme for software of the system was designed. Algorithm module, man-machine interface module and communication module were called and made practical application of simulating results possible.Intelligent distribution control of main/flap rudder angles and main/flap is the core of information processing system. Based on combined control model of main/flap rudder angles and main/flap and theory of GA, realization flow of information intelligent processing algorithm was designed. According to the designing thought which combines program language and control model, fitness function and various matrixes of intelligent distribution control were decided. Algorithm control program, and driver, interrupt program, and interface program of data acquisition card were developed with Visual C++ 6.0 based on industrial computer and debugging of software and hardware was prepared in this paper. The man-machine interface designed with VC++ permits inputting data by dialog box, saving and reading experimental parameters, and showing results by curves. The industrial computer receives, transforms and calculates signal of sensor, sends control order to servo system and communicates with visual simulation system. Finally, the realization form fits the design goal.更多还原