Research On Supervision Control System And Control Strategies Of Steering And Reversing Of Water-Jet Propulsion Vessels

Vessels gain the thrust from the discharging reverse water of the stern,which is the process of water-jet propulsion technique.Water-jet propulsion device has been widely used in high-speed,high-performance vessels since they possess maneuverability and high propulsion efficiency.This thesis takes a water-jet propulsion device and the hydraulic control system for the study,and the supervision control system has been designed and validated.Furthermore,the hydraulic control system of reversing mechanism has been modeled and simulated,as well as the realization of synchronous control of two sets of steering mechanisms of water-jet propulsion devices.The tasks of the supervision control system are signal sampling,screen display,data storage/query and communication.Based on the requirements of stability and real-time,the high-speed and stable microprocessor of AM3352 and the real-time operating system Windows CE have been adopted in this thesis.In addition,since the limited channels of sampling,a module of A/D sampling has been designed and implemented.Furthermore,in consider of the interference in the sampling field,isolation transformer,mean filtering and limiting filtering method have been employed,with satisfactory results.Finally,display interface has been devised with the configurable serial port screen,as well as the realization of data query and display with the help of SQLite database.The rotation of reversing mechanism is achieved with hydraulic system;therefore,the mechanism model of hydraulic control system of reversing mechanism has been established,as well as the Matlab simulation using sliding mode control and PID control.Based on an effective definition of load flow and load pressure,the model of valve controlled asymmetrical cylinder has been built.In addition,the hydraulic system and reversing mechanism was connected with the arm of force;therefore,the open-loop transfer function was obtained.Finally,sliding mode control and PID control compared on the quick-responding,anti-interference and suppression of parameter perturbation.When the high-power water-jet propulsion vessel is veering or mooring,the steering mechanisms need synchronization.For this reason,a design scheme of synchronous control has been implemented based on the asynchronous controllers.In addition,the synchronous control algorithm was designed based on the reciprocal of the synchronous error,with adjustable control accuracy and smooth start-stop.Finally,PI control algorithm was devised,which enabled fully synchronization of steering mechanisms with field tests.