【作者】 段海庆；

【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， 2006， 硕士

【摘要】 本论文是围绕“船舶减摇水舱试验装置”展开的。 减摇水舱是应用最广泛的船舶减横摇装置之一，它特别适用于经常工作在零航速或低航速的船舶减摇，如车客轮渡、滚装船和科学考察船等。减摇水舱按结构形式可分为U型减摇水舱和槽型减摇水舱，而U型减摇水舱可以设计成被动式、主动控制式和可控被动式三种。试验摇摆台是用于模拟船舶在波浪作用下运动的一种试验装置，为减摇水舱性能试验提供船舶运动模拟平台。 为了能更好的模拟海浪作用于船舶的横摇角，本文设计了模拟海浪作用下船舶横摇运动的电液位置伺服系统。首先，选取了电液伺服阀、齿轮齿条摆动液压油缸和角度传感器，建立了电液位置伺服系统的传递函数模型，求取了系统参数，并对系统进行了仿真研究。提出了改善系统稳定性的校正方法。在此基础上应用特征结构配置理论讨论了应用状态观测器实现的全状态反馈计算机控制方法，对其进行理论分析和仿真研究。台架位置系统试验也表明系统能满足跟踪的要求。 该试验台架能够模拟船舶的横摇运动和横荡运动，海浪作用于船舶的横摇和横荡运动由两套电液伺服系统分别模拟。 文中最后给出了试验台架在规则波作用下的摇摆曲线，并对曲线进行解释说明。更多还原

【Abstract】 The paper focuses on the test platform of ship anti-rolling tank.The anti-rolling tank is one of the most popular equipment used to stabilize ship rolling, and it especially is useful for ships being at zero speed or low speed state. The test platform is a device, which is used to simulate ship rolling caused by the wave force, and it serves as the test device for performance testing of the anti-rolling tank.To simulate the ship rolling accurately, an electro-hydraulic position servo system is designed. First, the electro-hydraulic servo valve, gear-rack swing hydraulic-pressure oil vat and angle sensor are selected, the model of electro-hydraulic position servo system is presented and the system parameters are gained. At the same time, the system simulation is studied. Then an emend method is putted out to improve the system stability. A robust method with poles placement which get feedback signals with a all-state observer is adopted to control the system. The simulation and the experiment results shows that the controller can meet the requirement of the position servo system.The platform can simulate rolling and swaying motion of ships respectively by two independent electro-hydraulic servo systems.At last in the paper, the rolling curve of the test platform is given and illuminated in regular waves.更多还原