摘 要

舰船工况实时监测是一个实用性和战略性课题,对于军事和民用等方面都具有很好的现实指导意义。本文在深入分析国内外关于多智能体编队工况监测方法的基础上,总结现有成果中存在的问题与不足,重点对舰船编队实时在线监测和编队安全问题两方面进行了深入系统的研究,对其总结如下:船舶机械作为现代生产运输中的关键设备，运行中发生故障或失效不仅会引起严重后果，造成重大经济损失，甚至会导致恶劣的社会影响。虚拟仪器，即借助于计算机的软硬件平台，建立起基于计算机的测试与控制系统。LabVIEW 作为虚拟仪器当中的代表语言，是针对测控系统推出的。包括数据采集和数据处理及控制，功能主要包括:数据仿真/采集、动态显示、实时监测、信号分析、数据存储、转速控制等，软件采用美国 NI 公司的 LabVIEW 7.0 Express 开发。 第一部分由 PCI9118 板卡和闭环控制器组成，板卡采集振动信号，闭环控制器采集转速信号并和第二部分实现双向通信，转速控制采用 PID 算法。第二部分为数据处理和控制两部分。数据处理部分通过 A/D 采集卡采集涡流传感器上测到的振动信号，或者自发产生 16 通道仿真信号，仿真信号的波形、频率、幅值、相位及所增加白噪声信号的参数都可以自定义。之后对信号进行实时分析处理并动态显示，分析方法包括时域波形、相关分析、频谱分析、谱差分析、功率谱分析、倒谱分析、瀑布图、轴心轨迹等。窗函数、滤波器参数等都可以调整，以得到较好的信号处理结果。控制部分通过串口与闭环控制器进行通讯，采集转速和电流信号并实时显示出来，还可以发出指令，指令包括启动及关闭闭环控制器，重新设置转速对实验台进行调速，修改传输比例系数 KP、积分时间常数 Ti、微分时间常数 Td以对 PID 调解器进行控制。 最后，将状态监测系统应用在转子试验台的工况监测以及工业现场的机械故障分析中，取得较好的效果。

安全问题是编队控制问题的一个重要内容,包括避碰和避障两方面。通过设置最小安全距离,确保系统在编队的过程中不会发生碰撞问题。通过避障路径规划设定安全航线,确保舰队安全通过障碍区。设计了输出观测器用来估计舰船的速度向量,在考虑舰队安全问题的基础上,使舰队系统达到理想的编队模型。通过对舰船编队避碰和避障实例仿真,验证了所设计控制器的控制效果。对本文的研究成果进行概括性总结,并提出了舰船编队问题有待进一步深入研究的问题。

关键词：编队控制 在线监测 工况 LabVIEW 安全避碰

Abstract

Ship condition monitoring is a practical and strategic issue, for the military and civilian has very good practical significance. This paper on the in-depth analysis of the domestic and foreign about multi-agent formation condition monitoring method based on, summarize existing results in the presence of problems and shortcomings, focusing on both in formation of ship real-time online monitoring and fleet safety problems were deep and systematic research, the summary is as follows: Ship machinery is the key equipment in modern production and transportation, operation malfunction or failure will not only cause serious consequences, cause significant economic losses, even lead to a bad influence in society. The virtual instrument, which is based on the Computer software and hardware platform and set up based on computer test and control system. LabVIEW virtual instrument as the representative of the language, is aiming at the control system introduced. Including data acquisition and data processing and control, function mainly includes: data simulation / acquisition, dynamic display, real-time monitoring, signal analysis, data storage, speed control, etc.. The software uses American NI company LabVIEW 7.0 express development. The first part consists of PCI9118 board and closed loop controller, board of vibration signal acquisition, closed loop controller acquisition speed signal and And the second part of the implementation of two-way communication, PID algorithm is used to control the speed. The second part for data processing and control part of the two. Data processing through a / D sampling card acquisition of eddy current sensor measured vibration signal, or spontaneous 16 channel simulation signal, signal simulation waveform, frequency, amplitude, phase and increase of white noise signal parameters can be customized. After the signal were real time analysis and dynamic show that analysis methods include time domain waveform, correlation analysis, spectrum analysis, spectrum analysis, power spectrum analysis, cepstrum analysis, waterfall, orbit. Window function and filter parameters Number can be adjusted to obtain better signal processing results. Control part with a closed-loop controller through the serial communication, the speed signal and current signal and displayed in real time, you can also issued a directive, instructions, including start-up and shut-down closed loop controller, re set the rotation speed of the test-bed speed, modify the transmission ratio coefficient Kp, integral time constant Ti, differential time constant TD in the PID regulator control. Finally, the condition monitoring system application in rotor test-bed condition monitoring and industrial field of mechanical fault analysis, good effect.The security problem is one of the important contents of the formation control, including collision avoidance and obstacle avoidance through two aspects.

The minimum safe distance is set to ensure that the system does not have collision problem in the process of formation.

Row set safe route, to ensure that the fleet safety through the barrier region. Design the output observer is used to estimate the velocity vector of the ship, in consideration of the fleet safety problem based on, fleet systems achieve the ideal formation model. Through to formation of ship collision avoidance and obstacle avoidance simulation examples to verify the designed controllers. Research results of this paper makes a general summary, and put forward the formation of ship problems to be further in-depth study of the problem.

Key Words: Online Monitoring LabVIEW Formation Control Safety Collision Avoidance

目录

第1章 绪论 8

1.1编队监测背景作用 8

1.2编队发展 8

1.3编队工况监测中出现的问题 10

1.4船舶编队工况监测的现实意义 10

1.5工况监测技术的发展（国内外）现状 11

1.6 确定船舶编队中需要监测的对象及参数。 11

第2章 基于 LabVIEW 的机械状态监测系统总体设计 13

2.1 系统的总体结构 13

2.2 系统的硬件介绍 14

2.2.1 传感器 14

2.2.2 采集卡 14

2.2.3 闭环控制器 15

2.3 软件开发平台选择 16

2.4 本章小结 18

第3章 船舶编队工况的数据采集 20

3.1测量放大器 21

3.2 抗混叠滤波器 22

3.3采样保持放大器 22

3 .4模拟/数字(A/D)转换器 22

3.5模拟多路开关 23

3.6.1动态链接库DLL(Dynamic Link Library) 23

3.6.2多线程技术 23

3.6.3双缓冲区(循环缓冲区)技术 24

第4章 船载监测系统设计 24

4.1 船载监测系统 25

4.1.1 PCI 总线 25

4.1.2 串行通信 25

4.1.3 GPS 定位 26

4.1.4 GPRS 通信 27

4.2 船载监测系统方案 28