摘要随着时代的发展,科技的创新,运动控制系统已经开始被人们所使用,在一 些无法用人工加工的时候,就通过自动化的设备来对其进行加工。就如同这样, 越来越多的行业发现了自动化设备的优势并开始运动控制的技术加以使用。船舶 运动控制监控系统经历了 3 个阶段,经典控制理论,现代控制理论以及智能控制 理论的应用。考虑到船舶的运输量大以及成本,所以船舶成为了海上航行主要的 工具。因此船舶的安全问题就与人们的人身安全以及财产安全息息相关。面对变 幻莫测的大海,单单靠人力去观察和控制是很难让船舶在海上更好的航向,所以 船舶的控制与监控因运而生。83856
本文主要针对给定船舶模型,探讨船舶运动控制的特性,利用 labview 为开 发平台,设计了一个船舶运动控制仿真软件,分别通过手动控制、自动控制对船 舶的航向、横向以及纵向进行控制,船舶的三个自由度的自动控制中分别采用了 模糊控制器和 PID 控制器,并且在船舶航向的控制过程实现了航行的轨迹的记录 和保存。
毕业论文关键词:Labview;船舶运动控制;模糊控制;PID
Abstract With the development of The Times, the innovation of science and technology, motion control system has been used by people, while some can't use artificial processing, through automation equipment to carry on the processing。As such, more and more industry discovered the advantages of automation equipment and motion control technology to use。Monitoring and control system for ship motion control has experienced three stages, the classical control theory, modern control theory, and the application of intelligent control theory。Considering the large volume and cost of the ship, so the ship sailing became the main tool。The safety of ship is closely related to people's personal safety and property safety。In the face of the vagaries of the sea, only by manpower to observe and control the better course is difficult to let the ship at sea, so the ship's control and monitoring for shipment。
In this paper, for a given ship model, this paper discusses the characteristics of ship motion control using labview as the development platform, the design of a ship motion control simulation software,Respectively by manual control, automatic control of ship heading, lateral and longitudinal control,Ship three degrees of freedom are used for automatic control of the fuzzy controller and PID as the controller, and in the process of ship course control to achieve the navigation track record and save。
Key word:Labview; ship motion control;Fuzzy control; PID
目录
第一章 绪论 5
1。1 论文的选题背景和意义 5
1。2 船舶监控系统的发展及现状 5
1。3 船舶运动控制技术的发展及现状 6
1。4 本文主要研究内容 7
1。5 本章小结 7
第二章 船舶控制基础知识 8
2。1 控制方法的简介 8
2。1。1 PID 控制的基本原理 8
2。1。2 模糊 PID 控制器的原理 10
2。2 LABVIEW 11
2。2。1 labview 的简单介绍 11
2。2。2 LABVIEW 的编程环境 12
2。2。3 LABVIE 设计虚拟仪器的步骤