【作者】 印大秋；

【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， 2008， 硕士

【摘要】 三轴船舶运动模拟摇摆台可模拟船舶三自由度横摇、纵摇、艏摇三个自由度的运动,为船用设备提供真实的船舶运动模拟仿真环境。通过计算机仿真得到船舶运动轨迹,作为摇摆台的控制输入,可真实地模拟船体运动。设计的摇摆台属于典型的UOO台体结构,内框和中框可以在有限角度内摇摆,外框可在360度范围内任意位置为零点做摇摆运动。根据响应速度及负载要求,在保证精度的前提下,采用交流伺服系统及减速机构驱动台体,对比常见的直驱伺服控制方式,精度较差,但同等功率及小体积下,负载及响应速度显著提高。首先,分析摇摆台的工作原理,建立了台体力学模型,采用MATLAB仿真分析台体三框之间的耦合作用,并分析了在船舶随机运动作为输入情况下摇摆台的响应能力。为满足摇摆台系统的稳定性和实时性要求,改善系统的响应能力,提高系统的稳定性,基于H_∞控制理论设计了摇摆台系统的控制策略,并进行了仿真分析。根据模型仿真分析的结论,进行了摇摆台驱动系统的选型,采用安闸交流伺服系统和高精度Neugart行星减速机驱动台体运动,满足大负载、响应速度快,控制精度要求相对不高的要求。上位机采用工控机加多轴运动控制卡PMAC的控制方式,为了满足测角系统实时性和测角精度的要求,台体轴侧安装高精度角度编码器,并采用基于CANopen总线的系统实时输出系统的姿态角。最后采用Visual Basic设计上位机监控系统,并运用OPC技术与PLC实现数据交互。通过现场调试,摇摆台带载情况下,响应能力、控制分辨率以及侧角精度都可满足要求。更多还原

【Abstract】 Three-axis ship motion simulation table can simulate ship’s roll, pitch, and yaw motion very well, and it can provide the ship equipments with the real ship motion environment. The table simulates ship motion when the ship motion trajectory of computer simulation is used as input signal. The designed table is a typical UOO table, the inner frame and middle frame can swing in limited angle range, and the outer frame can swing at random position of 360°range. According to requirement of response speed , loading, and precision, the AC servo system and reduction gears are used for driving the table, compared with direct drive control type, the precision is relatively poor, but the load and response speed are relatively well when the power and small dimension.First, analyze the theory of how the table works and set up the mechanic model. Then, using MATLAB to simulate the coupling effect among the three frames, and analyze the response ability of the table when receives the random motion signal of the ship. To satisfy the stability and real time need of the table, and to improve the response ability, control strategy based on the H_∞theory is designed and tested before the simulation.Based on the conclusion of the model simulation, drive system of the table is selected. In order to satisfy the requirement of big load, fast response and control precision relatively not very high, ANCHUAN AC servo system and high precision planet decelerate engine are selected to drive the table. Control computer adopts the control mode of industrial computer and multi-axial motion control card PMAC. To meet the real time need and precision requirement of the angle measuring system, high precision angle encoders are installed at the side of the table axis. And the angle is outputted based on the PLC system of the CANopen bus. In the end, the monitor system of the Control computer is designed in Visual Basic and through OPC technology to exchange data with the PLC.Through testing on site, the response speed, control resolution and angle measurement precision could satisfy the requirement when the table has loading.更多还原