基于模型预测的调距桨控制器设计与研究

Design and research onCPP controller based on model prediction

调距桨属于舰船推进装置,其液压系统用于改变桨叶的螺距角度,使舰船在航行时可以灵活地改变航速、航向。为了解决调距桨达到指定信号时,超调量过大、响应时间过长的问题,对调距桨液压系统进行抽象建立数学模型,采取模型预测控制(MPC)的算法,对系统输出结果和跟踪信号进行分析,实时滚动优化控制器参数,最终设计出基于模型预测的调距桨控制器。在Matlab/Simulink环境下根据调距桨的实际运行工况,选择跟踪信号和阶跃信号两种情形下对MPC和PID控制器进行对比仿真实验。结果表明,MPC比PID控制器具有更好的准确性和响应速度,累积误差明显小于PID控制器。该控制器能够使调距桨快速达到预期响应,航行的及时性得到保证,可满足调距桨控制系统应用要求。

As a naval propulsion device,the hydraulic system of the CPP(controllable-pitch propeller)is used to change the pitch angle of the paddleblade,so as to flexibly change the speed and headingof ship when it sailing.In order to solve the problem that the overshoot is too large and the response time is too long when the CPP reaches the specified signal,the mathematical model of CPP′shydraulic system is established,and the MPC(model predictive control)algorithm is used to analyze the system output results and tracking signals,and scrollingly optimize controller parameters in real time.Finally,the design of CPP controller based on model prediction is completed.In the Matlab/Simulink environment,the comparison simulation between MPC and PID controllers under the two conditions of tracking signal and step signal is conducted according to the actual operating conditions of CPP.The results show that MPC has better accuracy and response speed than PID controller,and the cumulative error is significantly smaller than that of PID controller.It is concluded that the controller can make CPP reach the expected response quickly,ensure the timeliness of navigation,and meet the application requirements of the CPP control system.