基于永磁同步电机的零航速减摇鳍伺服系统研究

现有的船舶零航速减摇鳍都采用液压伺服系统，但是存在许多缺点。为了克服这些缺点，探索了电伺服系统在零航速减摇鳍上的应用。根据零航速减摇鳍的负载特性和对驱动能量的要求，选择了适合该系统的驱动电机和主电路形式。按照从内环到外环的顺序确定调节器的形式和参数。为了减小负载扰动的影响，设计了适合该系统的非线性PID调节器，并提出了一种实用的参数整定方法。在Matlab平台上对该伺服系统进行仿真，仿真结果表明，系统动态性能良好，完全满足零航速减摇鳍的要求。

Study on the Servo System of Zero Speed Fin Stabilizer Based on PM Synchronous Motor

Hydraulic servo system is normally adopted for the existing fin stabilizers of ships at zero speed. However, there are many disadvantages coming from hydraulic servo system. In order to overcome these shortcomings in operation, the application of electrical servo system to fin stabilizer is discussed so that to improve the capability of the servo system. Suitable driving motor and main circuit is chosen for fin stabilizer at zero speed based on the loading characters and the requirement for the driving power. According to the sequence as from inner loop to outer loop, the configuration and parameters of adjuster are set. The nonlinear PID controller is designed to reduce the affects caused by the ripple of torque. A practicable method to set up the parameters is proposed. The electrical servo system is simulated on the Matlab. The simulation results indicate that the system has excellent dynamic performance, and it can be well applied to the fin stabilizers at zero speed.