拖网捕捞拖曳系统的建模及控制研究
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摘要
海洋渔业作为人类长期赖以生存和发展的基础,为人类提供了丰富的食物及营养来源。拖网捕捞渔业具有主动性好、作业区域广等优点,已逐渐成为海洋渔业中最为重要的作业方式。随着世界经济的发展以及物质生活不断丰富,人类对营养和健康的食品需求越来越大,使得海洋捕捞产业的重要性逐渐显现。同时,海洋渔业资源的衰退及海洋生态保护意识的增强,拖网捕捞效率及生态影响问题逐渐成为关注的热点话题。传统拖网捕捞多采用手动控制,捕捞效率主要依赖操作人员的经验,而拖网曳纲长达上千米,使得拖网的手动控制精度差、响应慢,降低了拖网捕捞效率,拖网操作的不当还会导致海洋生态资源的破坏。分析拖网系统的动态特性,提高拖网捕捞系统的自动化程度及控制性能,对于提升拖网捕捞效率及降低对海洋生态系统的影响是至关重要的。
本文以大型变水层拖网捕捞系统为研究对象,围绕着拖网捕捞拖曳系统的建模及控制展开了研究工作。论文建立了拖网捕捞拖曳系统各组成部分的数学模型,研究了各模型的耦合关系,并将各部分模型在统一的框架内进行集成,针对拖网系统的模型进行了仿真分析及海试验证。为提高拖网捕捞的控制性能,论文针对拖网网具对目标鱼群的瞄准捕捞进行了研究,并分别针对拖网在垂直面及空间范围的瞄准捕捞设计了轨迹跟踪控制器。
本论文具体的研究内容如下：
第1章概述了拖网捕捞拖曳系统的组成及工作过程,阐述了拖网捕捞系统数学建模及控制相关内容的研究进展,分析了本课题的研究背景及研究意义,介绍了本课题的主要研究内容。
第2章介绍了拖网曳纲绞车的工作原理,并根据拖网工况设计了压力／流量分时控制的曳纲绞车液压系统,建立了曳纲绞车液压系统的数学模型,并在比例压力控制液压系统的基础上,提出了分段的曳纲张力长度复合控制策略,能够保证拖网曳纲张力及长度的复合控制,最后针对曳纲绞车液压系统及曳纲张力长度复合控制器进行了仿真分析。
第3章将拖网网具系统离散为若干质量单元,确定了质量单元的拓扑连接关系,计算了质量单元承受的网线拉力、流体水动力及在水中的重力,最后采用集中质量法建立了网具单元的数学模型,为验证集中质量法网具系统数学模型的准确性,对所建立的数学模型进行了仿真及海试分析。
第4章建立了拖网渔船的数学模型,并将模型与所建立的曳纲绞车及网具系统模型进行联立,进而集成为拖网捕捞拖曳系统总体数学模型,以“开富号”拖网捕捞系统为研究对象,针对拖网系统网口扩张展开了研究工作,最后针对建立的数学模型进行了仿真及海试分析。
第5章探讨了拖网网具在垂直面内对目标轨迹的跟踪控制问题,首先将拖网网具系统简化为垂直面内的三质点简化系统,并建立了简化系统的数学模型,针对网具系统的非线性特性,同时考虑了拖网系统的参数摄动及外干扰,提出了一种基于模糊鲁棒算法的轨迹跟踪控制策略,并针对提出的模糊鲁棒控制算法进行了仿真研究。
第6章在垂直面拖网网位跟踪控制的基础上,讨论了拖网系统在空间范围内对目标轨迹的跟踪控制问题,首先将垂直面内的三质点系统推广到空间范围,建立了拖网空间三质点系统的数学模型,考虑到拖网空间模型的特点,采用了递推法实现拖网跟踪控制,同时考虑了拖网过程的参数摄动以及外干扰,提出了一种自适应鲁棒控制策略,并针对所提出的自适应鲁棒控制器进行了仿真分析。
第7章对本论文的研究工作进行了概述,提出了本论文的主要结论及创新点,并展望了下一步的研究方向和研究内容。
Marine fishery is of great importance for the food and nutrition supply which human beings depend on for a living. Fish trawling has the advantages of good initiatives and wide production areas, and has become most important fishing method. With the recession of fisheries resources and the improvement of environment protection consciousness of the ocean, the catching efficiency and environmental influences of trawling has become a hot topic. As the distance between trawler and net can be thousands of meters, the trawl net movement is difficult to predict. Manual operation for the trawl system is often very slow and the control precision cannot be ensured. Therefore, increased control performance for the geometry and trajectory of trawl net would greatly improve trawling efficiency and catch quality.
In this paper, a mathematic model of trawl system was developed including trawler, trawl winch and trawl net system, and the interface between subsystems was analyzed. The accuracy of trawl model was then testified through computer simulation and sea-trial. In order to improve the control performance, the tracking and geometry control within vertical plane and space were discussed, and robust control scheme was adopted for the purpose of disturbance attenuation. Simulation results illustrated the proposed control strategy was effective.
The main contents of the dissertation are presented as follows:
Chapter1give an overview of the trawl system, and the research background, significance and the main contents were also presented.
Chapter2introduced the principle of the trawl winch, and the hydraulic system with pressure and flow control was designed according to the trawling conditions. Mathematical model of trawl winch hydraulic system was then established, and the tension and length compound control scheme was developed.
Chapter3modeled the trawl net system with lumped mass method. The topological connections of trawl nets were first ensured with discrete method, and the cable tension, fluid hydrodynamic force and gravity in water were then derived. Finally, computer simulation and sea-trial were conducted to verify the modeling accuracy of the trawl net system.
Chapter4first established the mathematical model for trawler, and the model was then integrated with trawl winch and trawl nets system model. The "kaifu" trawling system was then investigated for trawl system simulation and sea trial analysis.
Chapter5discussed the trajectory tracking control problem of trawl system within the vertical plane. A simplified model within the vertical plane was first established, and a fuzzy robust trajectory tracking control strategy was proposed taking into account parameter perturbation and external disturbance. Simulation results verified the validity of the proposed fuzzy robust control algorithm.
Chapter6further investigated the trajectory tracking control problem of trawl system in the space. An adaptive robust control strategy was proposed based on backstepping method, and a control allocation of trawl winch and trawler was developed for the consideration of the non-strict feedback characteristics of trawl system. Finally, simulation results illustrated the proposed adaptive robust controller was effective.
Chapter7summarized the main results and conclusions, and the achievement and suggestion for the future work were also presented.
本文以大型变水层拖网捕捞系统为研究对象,围绕着拖网捕捞拖曳系统的建模及控制展开了研究工作。论文建立了拖网捕捞拖曳系统各组成部分的数学模型,研究了各模型的耦合关系,并将各部分模型在统一的框架内进行集成,针对拖网系统的模型进行了仿真分析及海试验证。为提高拖网捕捞的控制性能,论文针对拖网网具对目标鱼群的瞄准捕捞进行了研究,并分别针对拖网在垂直面及空间范围的瞄准捕捞设计了轨迹跟踪控制器。
本论文具体的研究内容如下：
第1章概述了拖网捕捞拖曳系统的组成及工作过程,阐述了拖网捕捞系统数学建模及控制相关内容的研究进展,分析了本课题的研究背景及研究意义,介绍了本课题的主要研究内容。
第2章介绍了拖网曳纲绞车的工作原理,并根据拖网工况设计了压力／流量分时控制的曳纲绞车液压系统,建立了曳纲绞车液压系统的数学模型,并在比例压力控制液压系统的基础上,提出了分段的曳纲张力长度复合控制策略,能够保证拖网曳纲张力及长度的复合控制,最后针对曳纲绞车液压系统及曳纲张力长度复合控制器进行了仿真分析。
第3章将拖网网具系统离散为若干质量单元,确定了质量单元的拓扑连接关系,计算了质量单元承受的网线拉力、流体水动力及在水中的重力,最后采用集中质量法建立了网具单元的数学模型,为验证集中质量法网具系统数学模型的准确性,对所建立的数学模型进行了仿真及海试分析。
第4章建立了拖网渔船的数学模型,并将模型与所建立的曳纲绞车及网具系统模型进行联立,进而集成为拖网捕捞拖曳系统总体数学模型,以“开富号”拖网捕捞系统为研究对象,针对拖网系统网口扩张展开了研究工作,最后针对建立的数学模型进行了仿真及海试分析。
第5章探讨了拖网网具在垂直面内对目标轨迹的跟踪控制问题,首先将拖网网具系统简化为垂直面内的三质点简化系统,并建立了简化系统的数学模型,针对网具系统的非线性特性,同时考虑了拖网系统的参数摄动及外干扰,提出了一种基于模糊鲁棒算法的轨迹跟踪控制策略,并针对提出的模糊鲁棒控制算法进行了仿真研究。
第6章在垂直面拖网网位跟踪控制的基础上,讨论了拖网系统在空间范围内对目标轨迹的跟踪控制问题,首先将垂直面内的三质点系统推广到空间范围,建立了拖网空间三质点系统的数学模型,考虑到拖网空间模型的特点,采用了递推法实现拖网跟踪控制,同时考虑了拖网过程的参数摄动以及外干扰,提出了一种自适应鲁棒控制策略,并针对所提出的自适应鲁棒控制器进行了仿真分析。
第7章对本论文的研究工作进行了概述,提出了本论文的主要结论及创新点,并展望了下一步的研究方向和研究内容。
Marine fishery is of great importance for the food and nutrition supply which human beings depend on for a living. Fish trawling has the advantages of good initiatives and wide production areas, and has become most important fishing method. With the recession of fisheries resources and the improvement of environment protection consciousness of the ocean, the catching efficiency and environmental influences of trawling has become a hot topic. As the distance between trawler and net can be thousands of meters, the trawl net movement is difficult to predict. Manual operation for the trawl system is often very slow and the control precision cannot be ensured. Therefore, increased control performance for the geometry and trajectory of trawl net would greatly improve trawling efficiency and catch quality.
In this paper, a mathematic model of trawl system was developed including trawler, trawl winch and trawl net system, and the interface between subsystems was analyzed. The accuracy of trawl model was then testified through computer simulation and sea-trial. In order to improve the control performance, the tracking and geometry control within vertical plane and space were discussed, and robust control scheme was adopted for the purpose of disturbance attenuation. Simulation results illustrated the proposed control strategy was effective.
The main contents of the dissertation are presented as follows:
Chapter1give an overview of the trawl system, and the research background, significance and the main contents were also presented.
Chapter2introduced the principle of the trawl winch, and the hydraulic system with pressure and flow control was designed according to the trawling conditions. Mathematical model of trawl winch hydraulic system was then established, and the tension and length compound control scheme was developed.
Chapter3modeled the trawl net system with lumped mass method. The topological connections of trawl nets were first ensured with discrete method, and the cable tension, fluid hydrodynamic force and gravity in water were then derived. Finally, computer simulation and sea-trial were conducted to verify the modeling accuracy of the trawl net system.
Chapter4first established the mathematical model for trawler, and the model was then integrated with trawl winch and trawl nets system model. The "kaifu" trawling system was then investigated for trawl system simulation and sea trial analysis.
Chapter5discussed the trajectory tracking control problem of trawl system within the vertical plane. A simplified model within the vertical plane was first established, and a fuzzy robust trajectory tracking control strategy was proposed taking into account parameter perturbation and external disturbance. Simulation results verified the validity of the proposed fuzzy robust control algorithm.
Chapter6further investigated the trajectory tracking control problem of trawl system in the space. An adaptive robust control strategy was proposed based on backstepping method, and a control allocation of trawl winch and trawler was developed for the consideration of the non-strict feedback characteristics of trawl system. Finally, simulation results illustrated the proposed adaptive robust controller was effective.
Chapter7summarized the main results and conclusions, and the achievement and suggestion for the future work were also presented.
引文
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