为应对船舶舵机系统控制精度和快速性需求的日益提高,本文提出了一种船舶液压舵机PD控制及建模仿真方法。首先,对船舵液压系统进行研究,采用模块化建模方法构建系统数学模型,利用PD控制引入偏差信息对舵角进行实时监控,借助SimHydraulics搭建舵机系统;然后,基于虚拟现实设计系统各模块控件,构建自定义控件库,完成舵机二维仿真软件开发。仿真结果表明:舵机系统数学模型满足SOLAS公约要求,极大地提高了操作系统的精确性,二维交互界面具有良好的可操作性、交互性,实现人机交互与系统仿真,快速地实现了船舵系统的动态模拟。
With the increasing demand of control accuracy and speed of ship's rudder system, this paper proposes a PD control and modeling simulation method of ship's hydraulic rudder. Firstly, the hydraulic system of the rudder is studied, and the mathematical model of the system is constructed using a modular modeling approach, real-time monitoring of the rudder angle using PD control to introduce deviation information, and construction of the rudder system with the help of SimHydraulics; Secondly, based on the virtual reality design system each module control, build custom control library, complete the steering engine two-dimensional simulation software development. The simulation results show that: the mathematical model of the rudder system meets the requirements of SOLAS convention, greatly improve the accuracy of the operating system, the two-dimensional interactive interface has good operability and interactivity, realizes human-computer interaction and system simulation, and quickly realizes the dynamic simulation of the ship's rudder system.