【作者】 杨鹏；

【导师】 梁利华；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2005， 硕士

【摘要】 水舱试验摇摆台是研究和设计减摇水舱的重要试验设备,利用它可以模拟船在海浪中的摇摆,从而通过摇摆台实验为减摇水舱的设计提供依据。该试验装置是一种专用综合系统,在国内还没有如此功能规模的装置。本论文重点对水舱试验摇摆台DSP数字控制器的设计和对水舱试验摇摆台位置系统进行研究。 本文首先对水舱试验摇摆台位置系统进行建模,计算了系统参数。并且,对摇摆台位置系统跟踪规则波的情况进行了仿真研究。分析了系统跟踪小周期信号不好的原因,并对修改机构参数后的系统进行了仿真研究,证明了该方法的有效性。 然后,针对电液伺服系统,由于系统的参数会随时间发生变化,加之非线性因素的影响,系统的精确数学模型不易建立,因此常规PID控制不易获得满意的控制效果的情况。本文在水舱试验摇摆台电液位置系统中引入一种神经网络自适应PID控制器,并对其控制效果进行仿真研究,通过与常规PID控制的效果进行对比,来证明其优越性。 此外,本文重点研究了水舱试验摇摆台DSP数字控制器的设计。对DSP控制系统中的复位和时钟电路、电源和电平转换电路、存储器接口电路、A/D、D/A转换电路、串行通信接口电路等进行了设计,并且硬件电路已经全部调试通过。软件部分,采用DSP汇编语言,分别对系统初始化模块、A/D转换模块、D/A转换模块、串行通信模块和PID控制模块等几部分进行编程,完成了整个DSP控制系统的软件部分设计,并在DSP软件开发环境CCS中仿真通过。 最后,对水舱试验摇摆台位置系统的实验进行了研究。设计了实验所需要的外围硬件和软件程序,对基于工控机的水舱试验摇摆台位置系统跟踪不同周期规则波的情况进行了实验,并且对实验曲线进行了分析。更多还原

【Abstract】 The examination platform of anti-rolling tank is an important experiment facility to research and design anti-rolling tank. As the Platform can simulate factual movement of the vessel, it is suitable to study the movement and the control rules of the tank, as well as measure stability efficiency. The device is a kind of special complex system. So far the country has no such test equipments as so large scale. This paper goes on deep design DSP controller of the examination platform and research of the roll position system.At first mathematical model of roll position system was made, and parameters were calculated in this paper. This paper simulated and studied respond of the platform to regular wave and analyzed the reason of bad respond under small cycle wave. The simulation of system that had changed machine parameters were made, and validity of this method was proved.Aiming at time-changing parameters and nonlinear factors, accurate mathematical model couldn’t be easily made in electro-hydraulic servo system. The satisfied control effect was not easily achieved under routine PID controller. This paper introduced a neural network adaptive PID controller in the roll electro-hydraulic position system, and simulated its control effect. By contrast with routine PID controller advantages of it were proved.Moreover this paper researched deeply into the design of DSP digital controller of examination platform. The reset circuit, clock circuit, power circuit, level switch circuit, memorizer interface circuit, A/D switch circuit, D/A switch circuit and serial communication interface circuit were designed. The functions of hardware had been debugged successfully. In software part every modules of DSP control system was programmed with DSP assemble language. The whole of system software was finished, and it had been debugged successfully in DSP software development tool—CCS.At last this paper researched into the experiments of roll position system, and designed external hardware and software. At the same time this paper carried out experiments under regular waves, and analyzed experiment curves.更多还原