【作者】 许建；

【导师】 孙才勤；

【作者基本信息】 大连海事大学 ， 船舶与海洋工程， 2013， 硕士

【摘要】 随着航运业的发展,海上交通运输密度日趋增大,同时对船舶航行的安全性和经济性要求也在不断提高。船舶航向控制系统的结构和控制性能是影响船舶正常航行的重要因素,一旦失灵,船舶将会失去控制,甚至发生重大海难事故。在国际海事组织颁布的SOLAS公约中详细规定了“船舶液压舵机系统培训与评估”的内容。这就要求在进行船员培训中必须有相应的模拟仿真系统对船员进行舵机系统的训练。因此,本文以川崎FE21-400船舶液压舵机控制系统为研究对象,以期完成较完整的船舶自动舵系统的动态仿真过程。首先,在二自由度和三自由度状态空间船舶运动数学模型的基础上,考虑风、浪、流等环境因素的影响,建立一阶Nomoto船舶运动数学模型。其次,以“太平洋”轮万箱集装箱船舵机液压系统工作原理为基础,围绕舵机系统各部分的运动方程及其系统的控制方法,建立船舶舵机系统的数学模型。并通过Matlab软件的Simulink模块搭建了船舶舵机液压系统的模型,根据反馈控制原理划分各子模块,进行动态仿真,验证了所建模型的正确性与有效性,同时仿真结果满足SOLAS公约要求。再者,将所建舵机液压系统模型与Nomoto船舶模型相关联,进行了基于PID控制的自动舵双闭环系统的建模仿真,分析了船舶航向曲线变化情况,验证了模型的有效性。最后,完成基于VC++6.0的船舶舵机系统的界面设计,并成功应用于DMS-2012系列模拟器中。更多还原

【Abstract】 With the development of the shipping industry, maritime transport density is increasing day by day. For the safety of navigation and economy continually increasing demands for heading control, ship heading control system structure and control performance is an important factor which affect normal navigation of the ship. Once the steering gear has a breakdown, the ship will lose control, even come a howler."Ship hydraulic steering system of training and assessment" content has been promulgated by the International Maritime Organization in the SOLAS Convention. This requires the crew training simulation system must have the corresponding actuator system for crew training. Therefore, Kawasaki FE21-400ship hydraulic steering gear control system is used for the study, in order to accomplish a complete autopilot system dynamic simulation and analysis process.Firstly, based on the ship motion mathematical model of two degrees of freedom and three degrees of freedom state space, considering wind, wave, flow and other environmental factors, this article establishes one step Nomoto mathematical model of ship motion. Secondly, taking hydraulic system working principle of the "Pacific" million boxes container for example, around equations of motion control method and system of the various parts of the steering system, establish a mathematical model of the ship steering gear system. Based on feedback control theory into sub-module, through Matlab and Simulink software package, using modular modeling method to complete dynamic simulation. Verify the correctness and validity of the model, and the result satisfies requirements of the SOLAS Convention. Thirdly, relevance the hydraulic steering system with the Nomoto ship model. PID controller is designed based on the automatic rudder dual closed-loop system modeling and simulation, analyze the heading curve to verify the validity of the model. Finally, complete interface designing of the ship steering system based on VC++6.0,and successfully apply it to the DMS-2012simulator.更多还原