Modeling And Cloud Model Based Intelligent Control For Ship Hydraulic Steering Gear System

The course control of modern ships is usually accomplished by autopilot system equipped with automatic pilot.The ship steering gear is an important actuator to realize ship’s course control,which is also a typical position servo control system.The control performance of the steering gear is closely related to the maneuverability,economy and navigation safety of the ship.In this paper,the mathematical modeling of marine hydraulic steering gear system and the hydraulic steering gear system cloud model control is researched.The established mathematical model of hydraulic steering gear is applied to the actual marine engine room simulator system,and the hydraulic steering gear simulation system is completed and applied to the crew training.What’s more,the intelligent control algorithm based on the cloud model is studied and the design and simulation verification of the ship hydraulic steering gear system cloud model controller is completed,as follows:(1)The Kawasaki FE21-064 steering gear system used in real ship is selected as the research control object.According to the structural characteristics,working process and operation requirements of the fork-type hydraulic steering gear,the dynamic mathematical model of the ship hydraulic steering gear system is established by using the modular modeling method and the theory of hydraulic transmission.Finally,the correctness and validity of the steering gear mathematical model is verified by simulation.(2)Combined with the mathematical model of marine hydraulic steering gear,the display interface of the steering gear hydraulic circuit,the interface of steering gear control,the alarm panel for E.C.C and the alarm panel for W.H.C are designed and accomplished by using the mathematical model algorithm and two-dimensional operational interface of hydraulic steering gear system developed by C language and VC++ soflware.Through the real-time simulation platform SUPERSIM,the information interaction between the two-dimension simulation interface and three-dimension virtual reality system are achieved.Finally,the development of the hydraulic steering gear simulation system in the DMS marine engine room simulator is completed,and the marine engine room simulator which contains the hydraulic steering gear simulation system has been actually applied to management-level marine engineer training.(3)According to the cloud model algorithm uncertainty reasoning,the PD+I cloud model intelligent controller applied to the hydraulic steering gear control system is designed to solve the problem of uncertainty interference in ship hydraulic steering gear system.The control simulation calculation of the steering system for the single-pump four-cylinder working condition and the double-pump four-cylinder working condition is carried out by using the cloud model controller.The simulation results show that designed PD+I cloud model controller has good adaptive ability and anti-interference ability,the rapidity and robustness are improved,and the control effect for steering gear system is better than the classical PID controller.Cloud model control strategy provides a new method for the research of the ship hydraulic steering gear control system.