The invention discloses a ship dynamic positioning pod propulsion control experiment system and method. The system mainly comprises a centralized control console, a Simotion control system, a PLC control system, a dSPACE system, a steering mechanism, a propulsion motor, a simulation load motor, a frequency converter and the like. The centralized control console outputs a control signal, and experimental simulation of ship dynamic positioning pod propulsion of two sets of control systems of Simotion control and PLC control can be carried out. The dSPACE system is utilized to establish a pod propulsion motor control system prototype, and the speed regulation control precision is improved through a model-free adaptive algorithm with a load torque disturbance observer. A pod propulsion unit with left and right pods for cooperative propulsion is adopted, the steering mechanism controls the pods to rotate by 360 degrees, and a load motor simulates ocean current loads. According to the invention, two control systems of Simotion control and PLC control can be fully verified and analyzed, and the effectiveness of an advanced control algorithm can be studied through dSPACE, which is of greatsignificance for improving the safety, control operation precision and stability of ship navigation.
本发明公开了一种船舶动力定位吊舱推进控制实验系统及方法,主要包括集控台、Simotion控制系统、PLC控制系统、dSPACE系统、转舵机构、推进电机、模拟负载电机和变频器等。集控台输出控制信号,可进行Simotion控制和PLC控制两套控制系统的船舶动力定位吊舱推进的实验模拟。利用dSPACE系统,建立吊舱推进电机控制系统原型,通过带负载转矩扰动观测器的无模型自适应算法,提高了调速控制精度。采用左右双吊舱协同推进的吊舱推进单元,转舵机构控制吊舱360度可回转,负载电机模拟洋流负载。本发明既能对Simotion控制和PLC控制两种控制系统进行充分的验证分析,又可以通过dSPACE研究先进控制算法的有效性,这对于提高船舶航行中的安全性、控制运行精度和稳定性有重要意义。
Ship dynamic positioning pod propulsion control experiment system and method
一种船舶动力定位吊舱推进控制实验系统及方法
2020-10-13
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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