海监船防暴水炮自动跟踪控制系统的研究
发布时间：2019-03-02 11:24
【摘要】：近年来,海岛归属、海域划界争议、海洋资源争端等一系列海洋争端问题成为人们关注的焦点。中国海监总队负责依法进行海上巡航监视,维护海上秩序。作为驱离打击敌船的海监船防暴水炮的作用日显突出。目前鉴于海监船水炮的控制方式主要是以人控为主,不适合复杂多变的海上环境,因而对海监船防暴水炮自动跟踪控制系统的研究具有很好的的理论意义与实际价值。本课题根据海监船水炮的使用环境以及控制的要求,设计并研发了一种海监船防暴水炮自动跟踪控制系统。论文主要涉及水炮的联动模块,综合考虑空气阻力、风力、压力、流量、俯仰角度等因素建立了一套水炮射流理论模型,并对射程的众多影响因素加以分析;以云台系统的信息获得目标的距离,将其作为水炮应有射程,依据水炮射流模型确定射程所对应的俯仰角度。通过七参数Bursa模型建立水炮与云台之间的坐标转换模型,从云台的实时信息中得到目标在水炮坐标系中的实时位置,依据位置所处的不同象限分别确定水炮应转的水平方位角度。设计PLC与变频器控制模块的软件部分,从而达到控制水炮转速以及转向的目的。使用三维电子罗盘实时反馈水炮的实际角度位置,运用具有死区环节、饱和环节、比例环节以及积分环节的控制算法,控制水炮平稳快速的转动到应转位置,实现水炮的相对精确定位。最后初步探讨了依据图像处理反馈的水炮落水点与目标位置偏差微调水炮角度的方案。在.NET框架下运用C#语言的多线程编程方式开发了系统上位机应用软件。将自动控制模式、手动控制模式、参数设计、帮助文档、数据库等功能集于一体,提高了系统的实用性与灵活性。通过多次实验,验证了水炮射流模型的正确性;同时通过水炮定位实验验证了水炮应转角度确定方法的正确性,在定位实验中,通过多次试验选取了合适的控制参数。系统的整体软硬件联调表明,论文设计的海监船水炮系统实现了基本的功能,且运行平稳,具有良好的实时性。
[Abstract]:In recent years, a series of maritime disputes, such as island ownership, maritime delimitation dispute, marine resources dispute and so on, have become the focus of attention. The China Maritime Surveillance Corps is responsible for maritime patrol and surveillance in accordance with the law to maintain maritime order. The role of anti-riot water cannon, a marine surveillance vessel, is becoming more and more prominent as it is used to drive off enemy ships. At present, in view of the fact that the control mode of marine surveillance vessel water cannon is mainly human control, it is not suitable for the complicated and changeable sea environment, so the research on automatic tracking control system of marine surveillance ship anti-riot water cannon has good theoretical significance and practical value. According to the use environment and control requirements of marine surveillance ship water cannon, an automatic tracking control system of sea surveillance ship anti-riot water gun is designed and developed in this paper. The paper mainly deals with the linkage module of water cannon. Considering the factors of air resistance, wind force, pressure, flow rate, pitch angle and so on, a set of theoretical model of water cannon jet is established, and many factors affecting the range of water cannon are analyzed. The distance of the target is obtained by the information of the cloud head system, which is regarded as the range of the water cannon, and the pitching angle corresponding to the range is determined according to the jet model of the water cannon. The coordinate transformation model between water cannon and cloud head is established by seven-parameter Bursa model, and the real-time position of target in water gun coordinate system is obtained from the real-time information of cloud head. The horizontal azimuth angle of the water cannon should be determined according to the different quadrant of the position. The software part of PLC and inverter control module is designed to control the rotating speed and steering of water cannon. The three-dimensional electronic compass is used to feedback the actual angle position of the water cannon in real time, and the control algorithm with dead-zone, saturation, proportional and integral links is used to control the steady and rapid rotation of the water cannon to the desired position. The relative precise positioning of water cannon is realized. Finally, a scheme to fine-tune the angle of the water cannon based on the feedback of image processing is discussed, which is based on the deviation between the falling point of the water gun and the target position. The application software of the host computer is developed by using C # language multi-thread programming mode under. Net framework. The functions of automatic control mode, manual control mode, parameter design, help document, database and so on are integrated, and the practicability and flexibility of the system are improved. Through many experiments, the correctness of the water gun jet model is verified; at the same time, the correctness of the method of determining the rotation angle of the water gun is verified by the positioning experiment of the water gun; in the positioning experiment, the appropriate control parameters are selected by many experiments. The whole hardware and software co-adjustment of the system shows that the watercannon system designed in this paper realizes the basic functions and runs smoothly and has good real-time performance.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U664.82;TP273
本文编号：2433002
[Abstract]:In recent years, a series of maritime disputes, such as island ownership, maritime delimitation dispute, marine resources dispute and so on, have become the focus of attention. The China Maritime Surveillance Corps is responsible for maritime patrol and surveillance in accordance with the law to maintain maritime order. The role of anti-riot water cannon, a marine surveillance vessel, is becoming more and more prominent as it is used to drive off enemy ships. At present, in view of the fact that the control mode of marine surveillance vessel water cannon is mainly human control, it is not suitable for the complicated and changeable sea environment, so the research on automatic tracking control system of marine surveillance ship anti-riot water cannon has good theoretical significance and practical value. According to the use environment and control requirements of marine surveillance ship water cannon, an automatic tracking control system of sea surveillance ship anti-riot water gun is designed and developed in this paper. The paper mainly deals with the linkage module of water cannon. Considering the factors of air resistance, wind force, pressure, flow rate, pitch angle and so on, a set of theoretical model of water cannon jet is established, and many factors affecting the range of water cannon are analyzed. The distance of the target is obtained by the information of the cloud head system, which is regarded as the range of the water cannon, and the pitching angle corresponding to the range is determined according to the jet model of the water cannon. The coordinate transformation model between water cannon and cloud head is established by seven-parameter Bursa model, and the real-time position of target in water gun coordinate system is obtained from the real-time information of cloud head. The horizontal azimuth angle of the water cannon should be determined according to the different quadrant of the position. The software part of PLC and inverter control module is designed to control the rotating speed and steering of water cannon. The three-dimensional electronic compass is used to feedback the actual angle position of the water cannon in real time, and the control algorithm with dead-zone, saturation, proportional and integral links is used to control the steady and rapid rotation of the water cannon to the desired position. The relative precise positioning of water cannon is realized. Finally, a scheme to fine-tune the angle of the water cannon based on the feedback of image processing is discussed, which is based on the deviation between the falling point of the water gun and the target position. The application software of the host computer is developed by using C # language multi-thread programming mode under. Net framework. The functions of automatic control mode, manual control mode, parameter design, help document, database and so on are integrated, and the practicability and flexibility of the system are improved. Through many experiments, the correctness of the water gun jet model is verified; at the same time, the correctness of the method of determining the rotation angle of the water gun is verified by the positioning experiment of the water gun; in the positioning experiment, the appropriate control parameters are selected by many experiments. The whole hardware and software co-adjustment of the system shows that the watercannon system designed in this paper realizes the basic functions and runs smoothly and has good real-time performance.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U664.82;TP273
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