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1、重庆大学硕士学位论文船舶液压舵机系统设计研究姓名：王月申请学位级别：硕士专业：机械设计与自动化指导教师：陈波2012-06重庆大学硕士学位论文 中文摘要 I 摘 要 我国改革开放后与国外贸易量逐年增大，尤其是加入WTO后进入了快速发展阶段，海运事业随着世界贸易的增长而快速发展，船舶行业随之迎来了黄金时期。但我国船舶配套设备制造能力一直滞后船舶主体制造能力，现已成为船舶行业快速发展的瓶颈。舵机是控制船舶航向的重要设备，其性能的好坏对于船舶运动的控制起着非常关键的作用。但目前国内对于船舶舵机的研究大多集中于船舶航向及舵迹控制方面，对于舵机本身的运动转换机构、液压传动及电气控制方面研究却相对较少。因
2、此，研究开发高性能船舶舵机并实现量产，对于我国船舶行业配套能力的加强、竞争力的提高具有重要意义。 本文通过分析研究船舶舵机作用原理及目前常用转舵机构，提出采用滚珠逆螺旋机构作为转舵机构，构建新式舵机。根据船舶对舵机要求及螺旋作动器实际需要，进行深入分析比较后，设计了舵机液压传动原理图，确定了电气控制方案。对舵机液压系统进行必要的简化后，分别建立了比例阀环节，阀控缸环节及角度传感器等环节的数学模型，经适当变换最终得到了舵机的数学模型，并对舵机系统的稳定性进行了分析。由于舵机闭环时域响应缓慢，且船舶在航行过程中受风、海浪等不确定因素影响，所以采用了不依赖对象模型的模糊PID校正，设计了模糊PID控
3、制器。运用MATLAB软件中的Simulink工具箱建立了系统动态仿真模型，并对系统进行了仿真分析。根据船舶舵机需远距离传送信号且干扰源多的情况，采取了操作室与舵机室分散控制，通过CAN总线连接通信的控制方式，有效提高了控制及反馈信号传送的速率与质量。设计了主电路图、CANopen主站控制原理图、CANopen从站控制原理图。 本文设计的船舶舵机系统，采用了新型转舵机构，有效减小了舵机体积及重量；采用了电液比例控制，能有效提高船舶航行时舵角的定位精度，降低航行能耗，减小换向冲击及噪声；将传统的PID校正与先进的模糊控制相结合，提高了舵机的动态性能，增强舵机自适应能力；采用现场总线传输信号，提高
4、了数据传输速度及可靠性。对高性能船舶舵机的设计据有一定的指导意义。 关键词：船舶舵机，建模，模糊PID，仿真分析，PLC控制 重庆大学硕士学位论文 英文摘要 II ABSTRACT Chinese foreign trade volume increasing year by year by reform and opening up, in particular after accession to WTO foreign trade has entered a stage of rapid development. The shipbuilding industry has also en
5、tered in golden age along with fast development of shipping industry, but Chinese ship auxiliary equipment manufacturing capacity is lagging far behind the main vessel. It has become a bottleneck in the rapid development of shipbuilding industry. Steering gear is one of the most important equipment
6、for controlling ships. Its good or bad performance plays a key role for ship motion control. But up to now domestic researchers for the steering gear studies are focused on how to control the ship heading and rudder track. There is a lack of researching hydraulic and electrical control about the ste
7、ering gear. Therefore, research and development high-performance steering gear and achieve the mass production finally. It has great significance for strengthening competitiveness of Chinese shipbuilding industry. Principle and current condition of marine steering gear were analyzed in this paper. F
8、irst, introduced structure of marine steering gears which were used commonly, choosed ball rotary-oscillating actuator as the new steering gear. According to requirements and actual needs, designed the schematic of fluid drive and the electrical control program after analyzed and compared the system
9、 seriously. The hydraulic system of steering gear was simplified. Corresponding mathematical models of proportional valve, valve control cylinder, angle sensor areas and other sectors were established. Mathematical model of the control system was ultimately made out and analyzed stability of steerin
10、g gear system. As time domain response is slow of the servo loop and the ship affected by the wind, waves and other uncertain factors during voyaging. So used the fuzzy PID control and designed a fuzzy PID controller for this system. Dynamic model was established by using the Simulink toolbox in MAT
11、LAB software. Finally, used MATLAB software to carry through dynamic simulation and analyzed dynamic characteristics. Because steering signal is remote transmission in the ship. So adopted the operating room and steering gear room were decentralized control. The rooms were connected via CAN-bus. The
12、 control and feedback signals transmission speed and quality effectively were improved by CAN-bus. The main circuit, CANopen master control diagram and CANopen slave control principle were designed. 重庆大学硕士学位论文 英文摘要 III In this paper steering gear was designed. Using electro-hydraulic proportional co
13、ntrol, it can improve the positioning accuracy when the ship voyaging, and reduce impact and noise. Applying fuzzy PID control strategy, it can improve the dynamic performance of steering gear and enhance adaptive capacity of steering gear. Using field bus, it can increase data transmission speed an
14、d reliability. This paper has guiding significance for the design of small and medium steering gear. Keyword：Ship Steering Gear, Modeling, Fuzzy PID, Simulation, PLC Control 重庆大学硕士学位论文 1 绪论 1 1 绪 论 1.1 船舶舵机介绍 1.1.1 舵机作用原理 舵机是船舶上的一种大甲板机械，是船舶最重要的辅机之一，用于控制船舶航向。其对船舶的作用原理如图1.1所示 图1.1 舵作用原理 Fig.1.1 Action principle of steering gear 舵叶在水中的受力如图1.1所示。图中NF舵叶两侧水压力（舵压力）；rF摩擦力；LF升力；DF阻力。在正舵位置，即舵转角0=时。舵叶两侧所受的水作用力相等，对船的运动方向不产生影响。当舵叶偏转任一角度，两侧水流如图1.1（a）所示。水流绕流舵叶时的流程在背水面就要比迎水面长，背水面的流速也就较迎水面大，而其上的静压力也就较迎水面要小。舵叶两侧所受水压力的合力称为舵压力，NF将垂直于舵叶，作用于舵叶的压力中心o，并指向舵叶的背水面。除NF外，水流对舵叶还会产生与舵叶中线方向一致的摩擦力r
