船舶自动舵控制系统实施改造的研究及实现

介绍了TS-75型自动舵系统的组成概况，分析了舵机抖动的机理，指出了该舵机抖动的根本原因是由于其控制电路的故障引起的，并提出解决该问题的有效方法是利用PLC（Programmable Logic Controller）技术对舵机控制系统进行改造。通过对船舶自动舵控制系统的控制原理、控制方法及存在的问题进行研究后，设计了基于PLC技术的自动舵控制方案，讨论了其具有的优点。利用PLC的模块化结构组态自动舵控制系统，实现船舶自动舵的自整定PID（Proportional Integral Differential）制，说明了STEP7 PID—TUNE的使用方法。基于PLC自整定PID控制的自动舵满足船舶的各种动态特性指标，能提高舵机控制系统的可靠性和经济性。

Investigation and Realization of the Reconstruction of Control System for Marine Steering Autopilot

The paper introduces the TS-75 type marine ship steering autopilot. The oscillation phenomenon and its mechanism on the steering equipments are analysed. It is found that the steering oscillation is mainly due to the fault of autopilot control circuit and the effective way resolving the steering oscillation problem is proposed that is using PLC technique to reconstruct the steering control system. Through the theoretical analysis on the principle and the method of marine steering autopilot control, based on the PLC an autopilot control system is designed. Utilizing the PLC modularized configuration of the steering control system, the auto-tuning PID control of the marine steering autopilot is realized and the operation method of the STEP7 PID-TUNE is given. The auto-tuning PID controlled au- topilot can satisfy the various dynamic characteristics required by ship motion control and can improve the reliability and efficiency of the steering autopilot control system.