【作者】 袁士春；

【导师】 郭晨；

【作者基本信息】 大连海事大学 ， 轮机工程， 2007， 博士

【摘要】 本文对应用线性变参数(LPV)系统算法的船舶运动与柴油主机推进联合控制进行了系统的研究。船舶操纵是一个极为复杂的控制问题。船舶航速、吃水的变化直接影响船舶的操纵性能，在研究船舶航向或直线航迹的控制时应予以足够重视。另外，船舶主机的转速影响船舶航速和操纵性能，而船舶运动状态也与主机转速和运行工况密切相关，所以船舶运动与主机控制存在强耦合关系。因此提出并进行船舶运动与主推进的联合控制技术研究具有重要理论和工程意义。为了进行船舶运动的控制仿真，论文建立了MAN B&W 10L90MC大功率船用柴油机的一阶惯性模型和包含风、浪、流外界干扰的5446TEU大型集装箱船MMG模型。以此为基础，对5446 TEU集装箱船在试航条件下进行回转仿真计算，仿真数据与实船试航数据基本吻合，验证了所建船舶运动模型和柴油机模型的有效性。LPV控制方法是基于线性矩阵不等式(LMI)的时不变系统H_∞控制理论在LPV系统上的推广。论文讨论了基于线性分式变换(LFT)、LPV多胞等LPV控制方法，总结了基于LPV系统的极点配置、多模型切换等控制理论研究成果。LPV控制方法的主要特征是通过实时可测或可估计的参数改变系统增益实现对时变系统的控制，因此LPV控制方法能够改进系统的稳定性、动态性能和鲁棒性。LPV系统在导弹、机器人等非线性系统控制方面取得满意的应用成果。在对船舶运动和柴油主机动态特性分析的基础上，本文LPV多胞的非线性系统控制方法引入到船舶运动和柴油主机控制中，深入研究深水中船舶航向、船舶直线航迹和浅水中船舶航向控制，并研究船舶运动与船舶柴油主机的联合控制。为将LPV控制理论用于船舶运动与柴油主机的控制，本文建立了以船舶航速与吃水为变参数的船舶航向控制LPV模型、以主机转速与螺旋桨进速系数作变参数的主机转速LPV控制方程、以船速为变参数的欠驱动船舶直线航迹间接控制的制导环LPV控制方程、以船舶航速与船舶操纵指数为变参数的浅水域船舶航向控制LPV模型。本文提出具有H_∞鲁棒性能连续变增益的LPV多胞输出反馈航向控制算法，实现了船舶航向变增益控制。根据切换LPV控制理论，提出了切换LPV的多胞输出反馈的船舶航向控制算法，将船舶速度划分为高速、低速两个区域分别设计控制律，根据船速选择控制器，保证航向在船速大范围变化时得到有效控制。在MMG船舶模型上的仿真结果验证了所设计的LPV控制器的有效性。本文提出基于圆域极点配置的具有H_∞鲁棒性能的LPV多胞状态反馈控制器设计方法。综合考虑操舵和主机两方面的因素，将该设计方法应用于船舶航向与主机的联合控制。在此基础上，设计了船舶在大洋航行直线航迹间接控制的制导环控制器，实现船舶直线航迹与船舶主机联合控制。此外，考虑了浅水对船舶操纵的影响，设计了浅水域的LPV航向控制器，实现了浅水域的船舶航向与主机的联合控制。在非设计条件下和有风、浪、流干扰的海况下仿真验证了所设计控制器的有效性。本文所提出的控制算法对实现船舶的综合节能优化控制，提高船舶系统的整体经济性，延长主动力装置工作寿命将具有重要意义。更多还原

【Abstract】 The integrated control of ship motion and main engine propulsion based on linear parameter-varying (LPV) is systemically studied in this dissertation.Ship maneuverability processes the complicated and changeful characteristics. The varieties of ship speed and draft directly affect ship maneuverability. Therefore, these issues should be taken into account enough in the control research on ship steering and linear track-keeping. In addition, the main engine speed affects the ship motion state and maneuverability, and the ship motion state is correlationally close with the main engine speed and operation, so the ship motion and the main engine speed control are strongly coupled. Therefore the study of the integrated control of ship motion and main engine propulsion put forward would be significant for both theory and engineering.In order to simulate ship motion control, the model of B&W 10L90MC high power diesel and the MMG ship model of 5446 TEU large container ship are established. The disturbances of wind, wave, and flow are considered in the ship model. The models are verified via turning simulation compared with the data from the trial voyage condition.The LPV control theory is the extension of the theory with LMI in the LPV system. In this dissertation, the linear fractional transformation (LFT) and the polytopic of LPV control methods are introduced. According to schedule parameters measured or computed on-line, the LPV control theories such as pole placement, model switch, etc. are recommended, whose main characteristics lie in that the system gain is adjusted Therefore, the LPV control method can improve the system stability, dynamic characteristics and robust performance, which has been successfully used on the nonlinear fields control such as missile, robot, etc.Based on the analysis of dynamic properties of ship motion and main diesel engine, we introduce the LPV polytopic nonlinear control method to the control fields of ship motion and main diesel engine. In this dissertation, the control algorithms of LPV polytopic for ship steering, linear track-keeping and ship steering in shallow water are studied, and the integrated controls of ship motion and main engine propulsion are also studied.With ship speed and draft as the schedule parameters, the ship course model is translated into a LPV system. With main engine speed and advance coefficient of propeller as the scheduling parameters, the main engine speed control equation of the MMG model was translated into a LPV system. With ship speed as the schedule parameter, the command guidance of underactuated ship interacted track-keeping is translated into a LPV system. With ship speed and the maneuverability coefficients as the schedule parameter, the ship course model in shallow water is also translated into a LPV system. With these LPV systems, the control algorithms of LPV polytopic can be used in the control fields expediently.A LPV output feedback controller satisfying H_∞performance for ship course control is put forward, which is a gain scheduled control varying with ship speed. Furthermore, in order to get better performance for ship steering during ship speed varying in a large scope, the switching LPV controller for ship course control based on switching LPV control theory is put forward, through dividing ship speed scope into high and low scopes, designing the controllers in either scope, and switching the controller according to ship speed. Simulation results on 5446 TEU ship MMG model confirm that the two LPV controllers have good performance under disturbance.The LPV algorithm using the closed system poles assigned into circle region via state feedback is brought forward, which satisfy robust H_∞performance. The LPV algorithm is used in the controllers design for ship course and main engine integrated control, considering their effect on each other. Moreover, the LPV algorithm is also used in the indirect controller design for straight-line trajectory and main engine control. Furthermore, the shallow water controllers of steering and main engine are designed with the LPV algorithm, taking shallow water affection into account, so the integrated control is achieved for steering and main engine on shallow water. Simulation results make it clear that the designed controllers have good performance under wind, wave and flow disturbances and non-designed conditions.The control algorithms proposed in the dissertation should be greatly useful and helpful in integrating energy-saving control for ship, improving whole ship economical efficiency, and prolonging main engine life-span.更多还原