船舶横摇运动建模与控制仿真研究

发布时间：2018-01-14 18:37

本文关键词：船舶横摇运动建模与控制仿真研究　出处：《大连海事大学》2014年硕士论文　论文类型：学位论文

【摘要】：船舶在海面上行驶时会受到风、浪、流等诸多因素的干扰而摇荡,给船上的人、货物和设备等带来不利的影响。因此,人们一直在寻找减小船舶摇荡的方法。而船舶的众多形式的摇荡运动中,横摇对船舶安全航行的影响因素最大。减小船舶横摇是目前船舶运动控制领域的重要课题之一。本文以船舶减摇鳍控制系统作为研究对象,对于船舶的横摇运动建模及减摇控制进行了深入的研究。要研究船舶的横摇运动,需要研究海浪对船舶的影响,海浪是船舶横摇的主要原因,建立理想实用的海浪扰动数学模型,是进行船舶横摇运动研究的基础条件。在进行船舶横摇减摇控制研究时,必须深入研究船舶的横摇运动,建立横摇减摇的控制模型。当船舶的横摇运动角度较小时,可以应用线性横摇理论来分析船舶的横摇运动。但当船舶的横摇运动角度较大时(如大于8度),许多非线性因素就突出来了,利用线性横摇模型不能很好地反映船舶的横摇特性。根据以上原因,本文首先基于波能谱分析理论,建立长峰波随机海浪扰动模型,对不同海情的波高和波倾角进行了建模和数字仿真；分析了海浪扰动下的船舶横摇运动、建立了船舶横摇运动数学模型,并进行了仿真；在此基础上,论文以减摇鳍控制系统为研究对象,采用传统的PID方法对船舶横摇进行控制,在特定的船舶参数与海况工况下取得了较好的减摇效果。考虑到船舶横摇运动的复杂性、非线性、时变性和海况的不确定性,采用了基于RBF神经网络与PID控制器的监督控制,仿真结果表明控制系统能够克服传统PID控制器适应性差的缺点,具有较好的容错性和较强的适应非线性的能力。
[Abstract]:When a ship travels on the sea, it will be disturbed by wind, waves, currents and many other factors, which will bring adverse effects to the people, goods and equipment on board. People have been looking for ways to reduce the swaying of ships. Rolling has the greatest influence on the safety of ship navigation. Reducing ship rolling is one of the most important topics in the field of ship motion control. This paper takes the ship fin stabilizer control system as the research object. The rolling motion modeling and anti-rolling control of ship are studied deeply. In order to study the rolling motion of a ship, it is necessary to study the influence of the wave on the ship. The wave is the main reason of the ship rolling, and an ideal and practical mathematical model of wave disturbance is established. It is the basic condition to study the rolling motion of ships. In the research of rolling control of ships, it is necessary to deeply study the rolling motion of ships. When the rolling angle of the ship is small, the linear rolling theory can be applied to analyze the rolling motion of the ship, but when the angle of the ship's rolling motion is large (such as more than 8 degrees). Many nonlinear factors are prominent, the linear rolling model can not well reflect the rolling characteristics of the ship. Based on the above reasons, this paper first based on the theory of wave energy spectrum analysis. The random wave disturbance model of long peak wave is established, and the wave height and wave dip angle of different sea conditions are modeled and simulated. The ship rolling motion under wave disturbance is analyzed, the mathematical model of ship rolling motion is established, and the simulation is carried out. On this basis, the paper takes the fin stabilizer control system as the research object, adopts the traditional PID method to control the ship roll. A better anti-rolling effect is obtained under certain ship parameters and sea conditions. Considering the complexity, nonlinearity, time-varying and uncertainty of ship rolling motion. The supervisory control based on RBF neural network and PID controller is adopted. The simulation results show that the control system can overcome the shortcomings of the traditional PID controller's poor adaptability. It has good fault tolerance and strong ability to adapt to nonlinear.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U661.321

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