马达驱动全航速减摇鳍动力系统及其控制器设计-哈尔滨工程大学学士学位论文.docVIP

摘 要 传统的减摇鳍伺服系统一直是电液伺服系统，但由于其存在着价格高、体积大、密封器件易老化、漏油、维护不方便等缺点；90年代以后，随着电力电子技术和微控制技术的迅猛发展，交流伺服广泛的应用于工业、国防等各个领域，在相当广的范围内取代了液压伺服系统。时至今日，已经成为伺服系统的主流趋势。交流伺服系统具有结构简单、控制方便、价格低且可靠性高等特点，它的研究开发将促进减摇鳍在一些中小型船舶中的应用。 本文对减摇鳍的负载和电机转动力矩进行了估算，依据减摇鳍特性和设计指标的要求，以异步电机矢量控制技术为理论基础，设计了电流环、速度环、位置环三闭环减摇鳍电伺服控制系统。针对减摇鳍电伺服系统中PID控制器参数固定，不能在线修正，对复杂海情适应性差等缺点，研究讨论了自调整模糊控制器，对位置环控制器的比例因子进行在线修整。分别以传统的电液伺服系统和矢量控制电伺服系统以及加入模糊控制器改进后的电伺服系统作为随动系统，对船舶减摇鳍控制系统进行仿真，最后对仿真结果进行了统计。 关键词：减摇鳍；矢量控制；模糊控制；伺服系统；船舶横摇  Abstract Traditional anti-rolling fin servo system has been the electro-hydraulic servo system, but exist due to its high price, volume, sealing device is easy to aging, the oil, it is not convenient to maintenance shortcomings; Since the 90s, the rapid development of power electronics technology and control technology, ac servo is widely used in industry, national defense and other fields, in quite a wide range to replace the hydraulic servo system. Today, has become a mainstream trend of servo system. Ac servo system has a simple structure, convenient control, low price and high reliability etc, it will promote the research and development anti-rolling fin application in some small and medium-sized ships. In this paper, the stabilizing fin of the load and the motor rotational torque estimation, based on features of anti-rolling fin and the requirements of design index, based on the theory of asynchronous motor vector control technology, the design of the current loop, speed loop and position loop, three closed-loop anti-rolling fin electric servo control system. For anti-rolling fin PID controller parameters in electric servo system is fixed, not online correction, feeling poor adaptability to complex sea shortcomings, the research discusses the self-tuning fuzzy controller, the scaling factor of the position loop controller on-line modification. Respectively in the traditional electro-hydraulic servo system and the vector control electric servo system and join the improved fuzzy controller as a servo syste