The Design Of Electric Simulation Steering Gear Based On Fuzzy Control Algorithm

In the process of maintaining and changing the ship’s course,the ship steering gear plays a key role,and its performance plays a crucial role in the safety and economy of the sea-going vessels.The digital simulation experiment and the ship model experiment are both common methods in the steering gear system research method.This paper devises and combines the two methods,which is different from using hydraulic pressure as the driving force of the steering gear in the ship model experiment,instead of using electricity;it is different from the digital simulation experiment to establish the servo model in Matlab/Simulink,instead of the implementation part,the steering gear,is a self-designed physical object;the semi-physical simulation research method is used to study the servo system.In the computer’s Matlab/Simulink realize the fuzzy parameter auto-tuning PID algorithm,PLC is responsible for on-site real-time data sampling and output,Simulink and PLC through OPC technology to achieve data communication.Compared with the traditional PID algorithm,the fuzzy parameter self-tuning PID algorithm has further improved the control effect of the nonlinear servo system.In terms of hardware circuit,the programmable logic controller(PLC)is selected as the core unit of the analog servo control.Through the control of the rotation of the stepper motor,the servo steering is simulated.The interface circuit of the special function expansion module of the PLC enables the analog steering gear to receive the switching quantity and the analog steering signal,realizing the jog and proportional speed control steering control,and it can communicate with the external steering instrument at the same time.Power supply start-stop and control interface circuits supply power to the system and its internal electrical components and control start and stop;PLC input and output interface circuits send and receive various control command signals;stepper motor and driver interface circuits receive steering pulse signals to drive stepper motors.In the software program,according to the modular programming concept,three control modes of buttons,touch screen,and remote are designed,and the functional requirements of the analog servo are specifically implemented.In addition,the output pulse number and pulse frequency calculation program,the actual angle calculation program,the steering speed calculation program,and the positioning zero return program are also designed.The designed man-machine interaction interface is friendly,and the operation function is perfect.It is convenient for observing the working condition of the equipment and setting the system parameters at any time.The electric analog steering gear designed in this paper can simulate the operating rules of the rudder actuator-servo during ship navigation from the operating principle.This device can replace the actual rudder actuator of the ship to cooperate with the ship motion control system for debugging experiments.It is often used for the validation of ship motion control algorithms by scientific research units or maintenance support departments and performance testing of the tested steering gears.The analog servo has the characteristics of simple operation,stable operation,precise control and complete functions.The experimental results show that this design scheme is consistent with the experimental results obtained by the currently mainstream methods of steering system and real-life rudder mechanism for establishing a closed-loop experimental environment for systematic land-based testing,and verifying the practical significance of the research on this subject.