【作者】 梁燕华；

【导师】 金鸿章；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2008， 博士

【摘要】 减摇鳍是目前最常用且应用最成功的船舶主动式减摇装置，理论减摇效果可达90％以上。传统的鳍角反馈控制减摇鳍主要依据鳍的静态水动力特性来计算鳍上升力，但减摇鳍在波浪中作往复运动时，鳍上的水动力特性比相应的静态水动力特性要复杂得多；另外，鳍与舭龙骨、鳍与船体以及前后鳍之间也存在相互干扰，鳍上产生的实际升力与鳍角之间存在严重的非线性、不确定关系，这些因素都直接对传统鳍角反馈减摇鳍的减摇性能产生不利影响。于是，人们提出了升力反馈控制减摇鳍的概念。论文来源于哈尔滨工程大学“十五”211重点工程项目“升力反馈控制减摇鳍”课题。论文的主要研究内容是研究一种能克服传统鳍角反馈控制减摇鳍缺点的升力反馈控制的减摇鳍。论文首先介绍了船舶减摇的基本原理及减摇鳍的工作机理，在阐述传统鳍角反馈控制缺点的基础上，对升力控制在减摇鳍系统中的特点及机理进行了分析。结合国内外的相关资料和研究现状，对减摇鳍升力控制具体实施中升力难以测量问题做了研究，并详细分析了所研究系统中升力传感器的工作原理和影响其性能的主要因素。鳍角反馈控制虽然是目前比较成熟的控制方法，但是其仍然存在着一些不足；而升力反馈控制减摇鳍在国内还处于实验阶段。升力／鳍角综合控制方法则是在这样的背景条件下提出的，也是对升力控制减摇鳍系统的改进研究。论文在研究多传感器数据融合技术的基础上，结合哈尔滨工程大学升力鳍试验台架系统，应用信息融合技术构建了升力／鳍角综合控制系统的数据融合模型，以解决升力反馈控制减摇鳍系统中升力信号检测问题。论文对该融合模型构建方法做了深入研究，并验证了应用该模型的升力鳍系统的有效性。多传感器数据融合过程主要研究信号的采集、处理和融合算法，这两部分研究决定了信息融合的精度和系统的控制效果。基于升力／鳍角多传感器信号融合模型的研究基础，应用小波降噪技术来处理数据融合过程中各传感器采集数据。依托数据融合模型采用最优加权的构建原理，先对各采集信号应用小波变换手段进行分解，再分别对各层分解信号利用阈值方法降噪，并按其最优权值分配来融合两路分解后的低频信号，进而重构出升力信号。最后通过实验仿真验证了应用小波降噪数据融合算法的升力鳍系统的减摇效果。论文最后讨论了升力鳍系统中升力指令控制规律，针对减摇鳍系统控制对象存在的非线性特点，应用了模糊PID控制器。同时为了改善基本模糊控制器的动态和稳态性能，引入了可在线修正量化因子和比例因子的子模糊控制器。采用复合模糊控制器的升力反馈减摇鳍系统减摇效果也在研究中做了详细的理论分析和试验仿真。结果表明该系统不但具有良好的自适应性和鲁棒性，且减摇性能也得到了提高。更多还原

【Abstract】 Fin stabilizers are most frequently and successfully used active anti-rollequipments.The effectiveness of roll reduction can be more than 90 percent.Thefin angle feedback control is implemented in fin stabilizers system mainlyaccording to static hydrodynamic characteristic,but the dynamic hyddrodynamicproperty is more complicated during the reciprocating motion of fins.In addition,there are serious nonlinearity and uncertainty relationship among the fin and bilgekeel,the fin and hull,and fin pitch,etc.All these factors have harmful toanti-rolling effect,so the lift feedback control method is proposed.The thesis is derived from project 211 of Harbin engineering universityduring the 10th five-year plan:Lift feedback controlfin stabilizers.The anti-rolling principle of ship and the fins employment mechanism areintroduced firstly,the merits of the lift feedback control fin stabilziers are alsoanalyzed based on the faulted fin angle fin stabilizers.How to measure the liftforce in actual running is much important,the main influenced factors areparticularly analyzed aiming to the lift sensor,combinating the current researchsituation at home and abroad.The fin angle feedback control is widely used at the present time,thoughthere are still some flaws to be existed.The research on the lift feedback control ison the stage of experiments.For improving the lift fin stabilizer system,the finstabilizer with fin-lift/fin-angle integrated control was put forward.Aiming to the lift fin stabilizer test bed in Harbin Engineering University,themulti-sensor data fusion model of the control method with fin-lift/fin-angleintegrated was built applying information fusion technology,which also canperfect the measured lift force in fin stabilizers system.The construction methodwas in-depth study,and the feasibility was verified too.Signals collection,treatment and fusion arithmetic are mainly researched during the multi-sensor data fusion process,which are both decided the fusionaccuracy and control effect.The wavelet de-noising technology was applied todeal with all signals in the process of fusion,which was based on the fusion modelwe built.Relying on the constructed principle of the fusion model withoptimalizing weighted,all collected signals were decomposed by wavelettransform,all layers of the decomposed signals were then denoised by thresholdvalues,and both the decomposed low-frequency signals were fused by theiroptimalizing weights,and then the new lift force is reconstructed.The anti-rollingeffect of the lift fin stabilizer system used this data fusion arithmetic was verifiedby simulation.The lift instruction controller in the lift fin stabilizer system is discussed inthe thesis,the fuzzy-PID controller we applied to aim at the nonlinearity of thecontrol object.And for amending the dynamic and stability state performance,thefuzzy subcontroller is introduced too with quantizing and scaling factorsamending online.The theoretical analysis and experimental simulation of the liftfin stabilizer system with the complex fuzzy controller were given out,as a result,the system has upstanding adaptability and robustness,and the anti-rolling effectis improved too.更多还原