在线自适应误差模型船速调节器的研究.pdf

30 1 Vol. 30 No . 1 2009 2 Chinese Internal Combustion Engine Engineering Feb. 2009 : 1000- 0925( 2009) 01- 0 - 05 300020 , ( , 116026) Resea ch on Ship Speed Regulato Using OnLine Adaptive E o Model ZHANG Guichen, REN Guang ( College of M arine Engineering, Dalian Maritime U niversity, Dalian 116026, China) Abst act: Improving the stability of ship speed and main engine( ME) load is one of the main objectives for ship motion control. Using ship speed as a controlled variable and ME load as an operating variable, a ship speed error and ME load error cascaded adaptive control model w as established, in w hich a modified hy perbolic tangent function w as used as the activation function of an autotuning neuron and updated by the steepest descent method. A ship speed regulating simulation system w as designed, which consists of comput er, PLC, frequency control motor, servo motor and centrifugal pump. The stability control under different speed regulating conditions was realized. The result show s that the adaptive error model has obvious advatages in restraining disturbance and parameter perturbation. T he entire control process of ship speed is smoothing and stable w hen the system model has some uncertainty, and the control object has a greater inertia and time delay. : 提高船舶航速和主机负荷的稳定性是船舶运动控制的主要目标之一以船速为被控 量, 主机负荷为操作 量, 应用活化函数为改进双曲正切函数的自适应神经网络和最陡下降法的 非线性优化技术控制策略, 建立了船速误差和主机负荷误差的串级自适应控制模型设计了由 计算机PLC 频调速电机伺服电机和离心水泵组成的船速综合控制半实物仿真系统, 实现了 在不同调速状况下的稳定性控制结果表明: 在系统模型不确定, 控制对象大惯性大滞后情况 下, 自适应误差模型抑制扰动和参数摄动有明显的优势, 整个船速控制过程平滑稳定 : ; ; ; ; Key wo ds: IC engine; marine engine; speed regulator; stability; error model : TK422 : A