某型自动舵故障检测系统设计及实现
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摘要
某型自动舵是我国海军水面舰艇的首选舵型,以其操作方法简单、易掌握的特点深受基层部队官兵的欢迎。某型自动舵装备量大,但至今仍缺乏针对某型自动舵的专用检测设备,对自动舵的性能参数的检测一直是自动舵维修的难点。
本文以研制“某型自动操舵仪故障检测仪”为基础,通过对某型自动舵的深入剖析,建立了针对某型自动舵的故障检测平台,实现故障的诊断和自动舵PID参数的快速检测。
本文主要研究工作集中在以下几方面:
1.检测对象的分析。对某型自动舵进行学习和分析,确定了故障检测的对象特点,建立了检测对象的数学模型和物理模型。
2.检测理论的研究。对故障理论进行学习和分析,确定了自动舵采用的检测方法和手段。
3.硬件检测平台的设计和制作。根据某型自动舵的特点和故障检测的需要,构建了基于单片机的智能控制的故障检测平台,硬件上能够满足应用故障检测理论的要求进行故障检测,并能通过软件的修改完善平台功能。
4.软件的编制。编制故障检测平台单片机控制软件和主控机检测软件,与平台配合能够诊断故障。
5.实验验证。设计实验,验证检测平台故障检测的准确性和PID参数检测的准确性。
one automatic pilots which have equipped universally in our naval ships are our naval principal type of automatic pilot. one auto-pilot is welcomed by the army men on warships for its simple design and easy use. Though a great deal of one auto-pilot have been equipped in navy, there is still a lack of special test device on the one automatic pilot. And how to measure performance parameters of one auto-pilot after regular servicing is remained as a question.
In this thesis, the one auto-pilot is thoroughly analyzed based on the task of The Fault Detection Device for Model one Autopilot, a test platform for one autopilot has been built, and a rapid test method for the PID parameters of auto-pilot has been presented and proved feasible.
This thesis concerns on several aspects listed below:
1. The analysis of the object. The research object, model one auto-pilot system, has been disassembled, the features of the object has been ascertained, and the math model and the physics model of the object has been built.
2. The researches on the FDD theory. After the study on theories of fault detection and diagnosis, the method that planed to used on the FDD device for the auto-pilot system has been decided.
3. Design and build the hardware of the test platform. Based on the demand of FDD theory, a FDD test platform for the auto-pilot system with MCU intelligent control cell has been built up. Its hardware design can meet the needs of the test, and its function can be easily updated by rewrite the software.
4. Program. Mainly included the program of the test platform and the program of the fault detection, they work together to realize the FDD function.
5. Experiments. In this part, an experiment has been designed to testify the fault detection ability of the test platform and the veracity of the PID parameters test method.
本文以研制“某型自动操舵仪故障检测仪”为基础,通过对某型自动舵的深入剖析,建立了针对某型自动舵的故障检测平台,实现故障的诊断和自动舵PID参数的快速检测。
本文主要研究工作集中在以下几方面:
1.检测对象的分析。对某型自动舵进行学习和分析,确定了故障检测的对象特点,建立了检测对象的数学模型和物理模型。
2.检测理论的研究。对故障理论进行学习和分析,确定了自动舵采用的检测方法和手段。
3.硬件检测平台的设计和制作。根据某型自动舵的特点和故障检测的需要,构建了基于单片机的智能控制的故障检测平台,硬件上能够满足应用故障检测理论的要求进行故障检测,并能通过软件的修改完善平台功能。
4.软件的编制。编制故障检测平台单片机控制软件和主控机检测软件,与平台配合能够诊断故障。
5.实验验证。设计实验,验证检测平台故障检测的准确性和PID参数检测的准确性。
one automatic pilots which have equipped universally in our naval ships are our naval principal type of automatic pilot. one auto-pilot is welcomed by the army men on warships for its simple design and easy use. Though a great deal of one auto-pilot have been equipped in navy, there is still a lack of special test device on the one automatic pilot. And how to measure performance parameters of one auto-pilot after regular servicing is remained as a question.
In this thesis, the one auto-pilot is thoroughly analyzed based on the task of The Fault Detection Device for Model one Autopilot, a test platform for one autopilot has been built, and a rapid test method for the PID parameters of auto-pilot has been presented and proved feasible.
This thesis concerns on several aspects listed below:
1. The analysis of the object. The research object, model one auto-pilot system, has been disassembled, the features of the object has been ascertained, and the math model and the physics model of the object has been built.
2. The researches on the FDD theory. After the study on theories of fault detection and diagnosis, the method that planed to used on the FDD device for the auto-pilot system has been decided.
3. Design and build the hardware of the test platform. Based on the demand of FDD theory, a FDD test platform for the auto-pilot system with MCU intelligent control cell has been built up. Its hardware design can meet the needs of the test, and its function can be easily updated by rewrite the software.
4. Program. Mainly included the program of the test platform and the program of the fault detection, they work together to realize the FDD function.
5. Experiments. In this part, an experiment has been designed to testify the fault detection ability of the test platform and the veracity of the PID parameters test method.
引文
[1]周永余,高敬东.舰船自动操舵仪[M].武汉:海军工程大学出版社,2001:1-20页
[2]胡柏青,李安,高启孝.基于PXI总线的惯导远程故障诊断系统[J].声学与电子工程,2002,(3):31-34页
[3]杨德刚,李安,胡柏青等.惯性导航设备维修决策控制方法的研究[J].中国惯性技术学报,2003,11(4):62-65页
[4]李稳朝,李安,胡柏青.多重结构神经网络在平台罗经故障诊断中的应用[J].海军工程大学学报,2001,13(5):61-64页
[5]李安,许江宁,汪人定.平台罗经自动测试系统(PLTS)的研究[J].海军工程学院学报,1994,6(1):10-16页
[6]许江宁,顾颖玲,卞鸿巍等.AR模型在陀螺仪性能故障诊断中的应用研究[J].海军工程大学学报,2001,13(4):67-69页
[7]郭莫灿,陈斌华.PID自动舵组件自动测试系统研究[J].船舶工程,2004,26(2):71-72页
[8]周东华,叶银忠.现代故障诊断与容错控制[M].北京:清华大学出版社,2000:4-10,24-26,55-57页
[9]叶银忠,潘日芳.动态系统故障检测及诊断方法[J].信息与检测,1985,14(6):27-34页
[10]轩建平,张华.基于动力模型的故障检测与诊断理论和方法综述[J].振动工程学报(增刊),1998:4-7页
[11]张萍,周东华.动态系统的故障诊断方法[J].控制理论与应用,2000,17(2):153-158页
[12]曾儒伟,许诚,曾亮.故障诊断发展动向[J].航空计算技术,2003,33(3):19-22页
[13]周明歧.控制系统故障诊断[J].计算机自动测量与控制,2000,8(3):5-8页
[14]余哲峰,杨智春.相关函数幅值向量及其在结构损伤检测中的应用[J].机械科学与技术,2006,15(1):28-31页
[15]Tugnai J K.New results on FIR system identification using higher-order statistics[J].IEEE Trans.ASSP,1991,39(11):2216-2221P
[16]Zhang X D,Zhang Y S.Sinqular value decomposition based MA order determination of non-Gaussia ARMA models[J].IEEE Trans.1993,41(12):2657-2664P
[17]于亦凡,常慧.利用滑模观测器实现基于模型的错误诊断[J].青岛大学学报(自然科学板),2002,15(2):64-66页
[18]杨建国.小波分析及其应用[M].北京:机械工业出版社,2005:102-130页
[19]WANG W J.Wavelets For Detecting Mechanical Faults With High Senstivity Mechanical[J].Systems and Signal Processing,2000,15(2):685-696P
[20]邱浩,王道波.张焕春控制系统的故障诊断方法综述[J].航天控制,2004,22(4):53-56页
[21]Isermann R.Process fault detection based on modeling and estimation methods-A survey[J].Automatica,1984,20(4):387-404P
[22]Barbara A Osyk,Gregory R Vadey.A Neural Network Model for Fault Detection in Conunction with a Programmable Logic Controller[J].Journal of Intelligent Manufacturing,1994,5(2):67-78P
[23]闻新.控制系统的智能故障诊断研究[J].系统工程,1998,16(6): 70-71页
[24]朱大奇,于盛林.基于知识的故障诊断方法综述[J].安徽工业大学学报,2002.19(7):197-204页
[25]Frank PM.Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy survey and some new results [J].Automatica,1990,26:459-474P
[26]杨叔子,基于知识的故障诊断技术[M]北京:清华大学出版社,1993:24-30页
[27]Huang C Y,Stengel R F.Failure Model determination is a knowledge based contol system[C].American:Proceedings of American Control conference,1987:1642-1649P
[28]张丹红,程丹玲.模式识别在电力电子电路故障诊断中的应用[J].基础自动化,2000,15(4):38-42页
[29]Aoki A R,Torres G L,Souza L E D.Knowledge's Acquiaition for AI Planning of Restoration of Substations Usin Funcional Modeling[C].ISAP'99,Rio de Janeiro(Brazil),1999:191-195P
[30]Himmelblau D M.Fault detection and diagnosis in chemical and petrochemical processes[M].Amsterdam:elsevier Press,1978
[2]胡柏青,李安,高启孝.基于PXI总线的惯导远程故障诊断系统[J].声学与电子工程,2002,(3):31-34页
[3]杨德刚,李安,胡柏青等.惯性导航设备维修决策控制方法的研究[J].中国惯性技术学报,2003,11(4):62-65页
[4]李稳朝,李安,胡柏青.多重结构神经网络在平台罗经故障诊断中的应用[J].海军工程大学学报,2001,13(5):61-64页
[5]李安,许江宁,汪人定.平台罗经自动测试系统(PLTS)的研究[J].海军工程学院学报,1994,6(1):10-16页
[6]许江宁,顾颖玲,卞鸿巍等.AR模型在陀螺仪性能故障诊断中的应用研究[J].海军工程大学学报,2001,13(4):67-69页
[7]郭莫灿,陈斌华.PID自动舵组件自动测试系统研究[J].船舶工程,2004,26(2):71-72页
[8]周东华,叶银忠.现代故障诊断与容错控制[M].北京:清华大学出版社,2000:4-10,24-26,55-57页
[9]叶银忠,潘日芳.动态系统故障检测及诊断方法[J].信息与检测,1985,14(6):27-34页
[10]轩建平,张华.基于动力模型的故障检测与诊断理论和方法综述[J].振动工程学报(增刊),1998:4-7页
[11]张萍,周东华.动态系统的故障诊断方法[J].控制理论与应用,2000,17(2):153-158页
[12]曾儒伟,许诚,曾亮.故障诊断发展动向[J].航空计算技术,2003,33(3):19-22页
[13]周明歧.控制系统故障诊断[J].计算机自动测量与控制,2000,8(3):5-8页
[14]余哲峰,杨智春.相关函数幅值向量及其在结构损伤检测中的应用[J].机械科学与技术,2006,15(1):28-31页
[15]Tugnai J K.New results on FIR system identification using higher-order statistics[J].IEEE Trans.ASSP,1991,39(11):2216-2221P
[16]Zhang X D,Zhang Y S.Sinqular value decomposition based MA order determination of non-Gaussia ARMA models[J].IEEE Trans.1993,41(12):2657-2664P
[17]于亦凡,常慧.利用滑模观测器实现基于模型的错误诊断[J].青岛大学学报(自然科学板),2002,15(2):64-66页
[18]杨建国.小波分析及其应用[M].北京:机械工业出版社,2005:102-130页
[19]WANG W J.Wavelets For Detecting Mechanical Faults With High Senstivity Mechanical[J].Systems and Signal Processing,2000,15(2):685-696P
[20]邱浩,王道波.张焕春控制系统的故障诊断方法综述[J].航天控制,2004,22(4):53-56页
[21]Isermann R.Process fault detection based on modeling and estimation methods-A survey[J].Automatica,1984,20(4):387-404P
[22]Barbara A Osyk,Gregory R Vadey.A Neural Network Model for Fault Detection in Conunction with a Programmable Logic Controller[J].Journal of Intelligent Manufacturing,1994,5(2):67-78P
[23]闻新.控制系统的智能故障诊断研究[J].系统工程,1998,16(6): 70-71页
[24]朱大奇,于盛林.基于知识的故障诊断方法综述[J].安徽工业大学学报,2002.19(7):197-204页
[25]Frank PM.Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy survey and some new results [J].Automatica,1990,26:459-474P
[26]杨叔子,基于知识的故障诊断技术[M]北京:清华大学出版社,1993:24-30页
[27]Huang C Y,Stengel R F.Failure Model determination is a knowledge based contol system[C].American:Proceedings of American Control conference,1987:1642-1649P
[28]张丹红,程丹玲.模式识别在电力电子电路故障诊断中的应用[J].基础自动化,2000,15(4):38-42页
[29]Aoki A R,Torres G L,Souza L E D.Knowledge's Acquiaition for AI Planning of Restoration of Substations Usin Funcional Modeling[C].ISAP'99,Rio de Janeiro(Brazil),1999:191-195P
[30]Himmelblau D M.Fault detection and diagnosis in chemical and petrochemical processes[M].Amsterdam:elsevier Press,1978
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