| Marine steering gear is the equipment used for heading control. once the steering gear has a breakdown, the ship will lose control, or even come a howler. At present, the hydraulic steering gear is widely used on ship. To analyze the performance of hydraulic steering gear, one way is to test the data by doing ship navigation test, but the limitations of this approach are high costs and long cycles. Another method is to simulate on the model of research object.This method can save costs and time.For the computer simulation,two main conditions are needed. One is the establishment of accurate model which can describe dynamic characteristics of hydraulic systems;The other is simulation using simulation software based on the building model. Kawasaki FE21-400 electro-hydraulic actuator is adopted as the reserch object. Based on the structural features of the fork-type hydraulic steering gear, work processes and operational requirements, the rotation principle and characteristics of hydraulic system are analyzed. by using Simhydraulic component library of MATLAB,the physical model for steering gear hydraulic system is established.The entire model of marine steering gear is formed by the model of steering gear hydraulic system and the mathematical model of the other part of steering gear system.The PID control is used in the control system.The simulation is completed under the different conditons.By analyzing the simulation results,The correctness of the model is verified, also the SOLAS Convention requires are met.Because of the complexity of marine rudder system, PID parameters is hard to be tuned. Accompanied with the operating environment changes,the PID parameters need to be reset. In order to deal with the complexity and uncertainty, single nerual adaptive PID controller is used in the marine steering gear control.Through the analysis of simulation results, the application of single nerual adaptive control in marine steering gear control is possible. |
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