【作者】 李伟；

【导师】 孙玉清； 陈海泉；

【作者基本信息】 大连海事大学 ， 轮机工程， 2010， 硕士

【摘要】 船舶在海面上航行时,由于受到风、浪等因素的影响,不可避免地产生横摇、纵摇和垂荡运动,从而影响船上一些仪器设备的正常工作。船舶稳定平台能够隔离外界因素对船体的影响,使所承载的仪器设备保持水平,确保其正常、稳定工作,因此在工业生产中得到了广泛的应用。船舶液压稳定平台采用液压驱动,目前多为可以补偿船舶横摇和纵摇的二自由度平台。但船舶在海上还存在明显垂荡运动,同样需要补偿,本文结合这一实际需要,设计了一种新型的船舶液压稳定平台,并进行了相应的分析。首先,本文介绍了国内外稳定平台的发展概况,对电液伺服控制技术、PLC和船舶姿态信号采集方法进行了简要概述。其次,设计了船舶液压稳定平台的机械机构,在传统的两自由度平台框架下方加入剪叉机构,用于补偿船舶的垂荡运动。之后,对液压稳定平台的结构进行了相应的分析。并利用ANSYS软件对稳定平台机构进行了静力分析。再次,针对液压稳定平台的结构,设计了相应的液压驱动系统,并对系统进行了建模分析。最后,根据系统模型,选取PID控制方式,使用MATLAB软件进行了仿真分析,根据仿真结果存在的不足,采用积分分离和比例分离的方法对传统PID控制进行了改进,并再次进行了仿真分析。更多还原

【Abstract】 When the ship sailing in the sea, due to wind, wave and other factors, it will produce rolling, pitching and vertical movement inevitably, thus affecting the normal work of some equipment on board. Stabilized platform on shipboard can isolate the impact of external factors from the ship, keep the instruments and equipment on board horizontal, and ensure them working normally and stably, so it is widely used in industrial production. Hydraulic stabilized platform on shipboard is drive by hydraulic pressure. Now most of the stabilized platforms are two degree of freedom platforms, and they can compensate for the rolling and pitching of the ships. However, the ship at sea moves vertically obviously, so the vertical movement needs to be compensated too. In the paper, a new type hydraulic stabilized platform on shipboard is designed according to the practical need, and the corresponding analysis is carried out.Firstly, the development of stabilized platform is introduced in the paper. The electro-hydraulic servo control technology, PLC, and the signal collection of ship posture are summarized, too.Secondly, the mechanism structure of the type hydraulic stabilized platform on shipboard is designed. The scissor structure is installed below the traditional two degree of freedom platform. It is used to compensate the vertical movement of the ship. And then the corresponding analysis of the platform structure is carried out. The static analysis of the stabilized platform structure is done by using ANSYS software.Thirdly, the hydraulic system of the stabilized platform is designed according to the structure of the stabilized platform.Fourthly, according to the mathematical model of control system, the PID control method is selected. And then the simulation analysis is done by using MATLAB software.According to the defect of the simulation result, the paper improves the traditional PID control method by using the separate integral and separate proportion, and dose simulation analysis again.更多还原