基于DSP的全回转推进器舵伺服控制器的研究

发布时间：2018-04-11 00:10

本文选题：伺服控制 + 全回转推进器　；参考：《武汉理工大学》2014年硕士论文

【摘要】：随着海洋开发的进一步增强，，对于具有船舶动力定位功能船只需求大量增加，船舶动力定位系统中执行机构推进器在动力定位系统中起到非常关键的作用，如何使动力定位系统中全回转推进器舵角快速、稳定地转动到期望的角度成为近年来动力定位系统中研究的一个热点课题。分析了控制系统的组成结构，针对目前控制系统中驱动电路稳定性问题，提出了一种双余度的设计方案，确定了方案中控制器以及相关传感设备的选型，并进一步设计了部分硬件接口电路，并对系统的软件方案和系统的保护电路进行了介绍。分析了系统的特点，针对系统具有启停频繁、负载不断改变、且系统对响应速度和精度要求高的特点，设计了三闭环的控制结构，从内到外分别为电流环、速度环、位置环。在各个闭环的控制器算法设计上，电流环采用积分分离的PI的控制算法，速度闭环采用的是bang-bang控制与积分分离PI控制相结合的控制算法，位置闭环采用的是神经网络PID的控制算法。分析并建立了控制系统中各个部分的数学模型，在SIMULINK中搭建了各个环节，采用先内环后外环的方法对系统的参数整定方法对系统进行仿真。针对SIMULINK不能准确地反映系统元器件的参数以及系统的性能问题，利用POWER SYSTEM内丰富的元器件模块，获得了更为实际的运行结果。仿真结果表明，在电流闭环积分分离的PI控制算法可以适应电流环变化快的特点，速度环采用bang-bang控制与积分分离PI控制算法相结合的算法可以有效提高速度环的响应速度，位置环采用神经网络PID的控制算法可以获得良好的控制精度。综上，系统多闭环的控制结构与不同的控制算法可以有效地解决系统负载变化、启停频繁的问题，使具有良好的跟随特性。
[Abstract]:With the further enhancement of marine development, the demand for ships with the function of ship dynamic positioning has increased greatly, and the actuator propeller plays a very important role in the dynamic positioning system.In recent years, how to make the rudder angle of the full rotary propeller in the dynamic positioning system quick and stable to the desired angle has become a hot topic in the research of the dynamic positioning system in recent years.This paper analyzes the structure of the control system, aiming at the stability of the drive circuit in the current control system, puts forward a design scheme of double redundancy, and determines the selection of the controller and the related sensor equipment in the scheme.Furthermore, some hardware interface circuits are designed, and the software scheme and protection circuit of the system are introduced.The characteristics of the system are analyzed. Aiming at the characteristics that the system has the characteristics of frequent start and stop, constant change of load, and the system requires high response speed and precision, a three-loop control structure is designed, which consists of current loop, velocity loop and position loop from the inside to the outside, respectively.In the controller algorithm design of each closed loop, the current loop adopts the Pi control algorithm of integral separation, the speed closed loop adopts the control algorithm which combines bang-bang control and integral separated Pi control.The position closed loop adopts the control algorithm of neural network PID.The mathematical models of each part of the control system are analyzed and established. Each link is set up in SIMULINK. The method of setting the parameters of the system is used to simulate the system by the method of first inner loop and then outer loop.Aiming at the problem that SIMULINK can not accurately reflect the parameters of system components and the performance of the system, a more practical operation result is obtained by using the abundant component modules in POWER SYSTEM.The simulation results show that the Pi control algorithm with current closed loop integral separation can adapt to the fast change of current loop, and the speed loop can effectively improve the response speed of speed loop by combining bang-bang control and integral separation Pi control algorithm.The position loop can obtain good control precision by using the control algorithm of neural network PID.To sum up, the control structure of the system with multiple closed loops and different control algorithms can effectively solve the problem of system load change and frequent start and stop, so that the system has good following characteristics.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U664.82

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