CN107330164A - A kind of trimaran lengthwise movement identification Method - Google Patents
A kind of trimaran lengthwise movement identification Method Download PDFInfo
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Abstract
The present invention devises a kind of trimaran lengthwise movement identification Method, is based primarily upon the motion model of stress model of the trimaran of genetic algorithm under wave effect and the trimaran based on equation decoupling under power effect.The wave force and wave torque obtained according to trimaran towing tank test, stress model of the trimaran under wave effect is gone out using Identification of Genetic Algorithm.Additional mass, the damped coefficient obtained according to trimaran towing tank test, recovery coefficient, heave quality and pitching moment of inertia, carry out decoupled identification by ship dynamics equation and go out motion model of the trimaran under power effect.The present invention proposes a kind of discrimination method based on intelligent algorithm, suitable for analyzing the trimaran motion conditions under complicated sea situation, it is widely used among the antipitching control of ship, the rapidity of algorithm and the intelligent trimaran model for ensureing to obtain also can accurately estimate real motion situation at a high speed under complicated sea situation.
Description
Technical field
The present invention relates to a kind of trimaran lengthwise movement identification Method, the modeling method of navigational field is particularly belonged to.
Background technology
From the second half in 20th century, various types of ships emerge and come into operation one after another, and its speed of a ship or plane and size are in increasing
Long trend.The overall width of multi-hull ship is larger, therefore with very big floor space and very high stability, and obtained extensive
Using.Its most of the time is all run at high speeds for high speed multi-hull ship, when shipping high speed is navigated by water heave and
The amplitude of two amounts of exercise of pitching is significantly increased, the influence caused compared to heave and pitching for ship's navigation, other
The motion influence in direction can be ignored.So the principal element of influence high-speed boat navigation is heave movement and pitching fortune
Dynamic, both motions may be collectively referred to as the lengthwise movement of high-speed boat again.
Trimaran lengthwise movement model is mainly made up of two parts, and Part I is stress mould of the hull under wave effect
Type, including two transmission functions, it is the unrestrained high of wave that it, which is inputted, and output is wave force and wave torque respectively；Part II is
Motion model of the hull under power effect, including four transmission functions, are transformed into heave amount, by wave torque by wave force respectively
Heave amount is transformed into, wave force is transformed into pitching amount, wave torque is transformed into pitching amount.Two class models are with two kinds of differences
Discrimination method, with traditional discrimination method such as nonlinear least square method, hunting zone is smaller, and Model Distinguish error is larger,
Precision is not high.This inaccurate identification deviation can cause the controller designed accordingly to fail, and unfavorable shadow is produced to practical application
Ring.Therefore accurate recognition trimaran lengthwise movement model is urgent problem to be solved, it is necessary to solved using advanced identification technique
Certainly.
Proposed according to nonlinear least square method of the document high speed ship model under constraints a kind of based on non-thread
The high-speed craft identification Method of property least square method, but deficiency is that traditional least square method hunting zone is smaller, causes mould
Type Identification Errors are larger.The method that the present invention is designed solves trimaran lengthwise movement identification problems of model, by trimaran longitudinal direction
Motion model point two parts consider that reduction identification difficulty increases the degree of accuracy of identification.
The content of the invention
It is an object of the invention to devise a kind of trimaran lengthwise movement identification Method, complicated ocean ring is simulated
The motion conditions of trimaran under border, are that the design of subsequent vessels pitching stabilization controller provides the foundation.
The present invention is achieved by the following technical solutions, specifically includes following steps：
(1) wave force and the amplitude and phase of wave torque being fixed from the towing trial of trimaran pond under the speed of a ship or plane
Position；
(2) wave force and the amplitude and phase of wave torque obtained trimaran pond towing trial becomes as input
Amount；The order of transmission function molecule denominator is determined, molecule order is less than or equal to denominator order；According to the genetic algorithm journey write
Sequence picks out stress model of the trimaran under wave effect, is made up of two transmission functions；
(3) under heave quality, pitching moment of inertia, the fixed speed of a ship or plane that trimaran is obtained from the towing trial of trimaran pond
Additional mass, damped coefficient and recovery coefficient；
(4) equation of motion of hull is decoupled, changes into state equation form；
(5) will be additional under the heave quality obtained in the towing trial of trimaran pond, pitching moment of inertia, the fixed speed of a ship or plane
Quality, damped coefficient and recovery coefficient obtain four biographies under the fixed speed of a ship or plane according to the state equation of solution decoupling as input
The motion model of delivery function, as hull under power effect.
Specific genetic algorithmic steps in described step (2) are as follows：
(2.1) transfer function model to be estimated is obtained, the Parameter Estimation Problem of transmission function is exactly by dragging in frequency domain
The frequency response or Bode diagram of draging the transmission function obtained in basin test obtain the transmission of fixed zero pole point number to be estimated
The problem of function, the lengthwise movement model under frequency domain is as follows：
In formula：B (s, θ) and A (s, θ) is two transmission functions.
(2.2) to identification mode of the model using parametrization, parameter vector θ is estimated by experimental data, θ is defined as：
θ=(bm+1,bm,bm-1,…,b1,an,an-1,…,a1)；
(2.3) corresponding cost function is obtained by each group of parameter vector θ, corresponding cost function is：
In formula：|G(jωi) | it is the amplitude of experimental data Wave power (wave torque)；arg(G(jωi)) it is experiment number
According to the phase of Wave power (wave torque)；|G(jωi, θ) | for the transmission function amplitude picked out；arg(G(jωi, θ)) be
The phase of the transmission function picked out；
(2.4) in order that model is optimal, it is necessary to repeatedly be selected, intersected, made a variation, finally giving makes transmission function
Amplitude and phase and towing tank test in the minimum one group of parameter vector of obtained data relative error, so as to pick out most
Stress model of the whole ship under wave effect.
It is as follows shown in the equation of motion of hull in described step (4)：
In formula：x3For heave amount, x5For pitching amount, m33For heave quality, m55For pitching moment of inertia, aijFor additional matter
Amount, bijFor damped coefficient, cijFor recovery coefficient, ω is input Ocean-wave Signal, FiThe power acted on for Ocean-wave Signal on hull,
γiThe phase acted on for Ocean-wave Signal on hull.
A kind of described trimaran lengthwise movement identification Method, trimaran lengthwise movement model is main by two parts group
Stress model of the hull under wave effect into, Part I, including two transmission functions, its input be wave wave it is high,
Output is wave force and wave torque respectively；The motion model that Part II is hull under power effect, including four transmission letters
Number, is transformed into heave amount by wave force respectively, wave torque is transformed into heave amount, wave force is transformed into pitching amount, by ripple
Unrestrained torque is transformed into pitching amount.
A kind of described trimaran lengthwise movement identification Method, can be fast after pond towing trial data are obtained
Speed picks out trimaran lengthwise movement model exactly.
The present invention is directed to the identification problems of model of trimaran, proposes a kind of discrimination method based on intelligent algorithm, can enter
In the case of row trimaran towing tank test, it is according to the wave force obtained under frequency domain, wave torque, additional mass, damping
Number, recovery coefficient, heave quality and pitching moment of inertia calculate six transmission functions to be identified, so as to obtain and real system
The trimaran lengthwise movement model matched.Application process of the present invention can be divided into two stages：First, pull and try by pond
Test obtained volume of data and pass through simple data analysis and fitting, preserve in a computer；Second, call what is finished in advance
Program picks out the parameter of system model, and this algorithm is innovated on the basis of frequency-domain analysis and got.
The beneficial effects of the present invention are：
The present invention devise it is a kind of be applied to the trimaran motion conditions under complicated sea situation are analyzed, can extensive use
Among to the antipitching control of ship, the rapidity of algorithm and the intelligent trimaran model for ensureing to obtain are multiple in high speed
Also real motion situation can be accurately estimated under miscellaneous sea situation.
Brief description of the drawings
Fig. 1 is flow chart of the present invention；
Fig. 2 is Model Distinguish composition frame chart of the present invention；
Fig. 3 is stress model identification algorithm flow chart of the hull under wave effect in the present invention；
Fig. 4 is trimaran in embodiment wave force and the datagram of wave torque under the 40 section speed of a ship or plane；
Fig. 5 is the comparison diagram between the wave force that the model emulation picked out in embodiment is obtained and real data；
Fig. 6 is the comparison diagram between the wave torque and real data that the model emulation picked out in embodiment is obtained.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail：The present embodiment using technical solution of the present invention as
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following implementations.
The present invention devises a kind of trimaran lengthwise movement identification Method, including the trimaran based on genetic algorithm exists
The motion model of stress model under wave effect and the trimaran based on equation decoupling under power effect.Pulled according to trimaran
Wave force and wave torque that basin test is obtained, stress mould of the trimaran under wave effect is gone out using Identification of Genetic Algorithm
Type.Additional mass, the damped coefficient obtained according to trimaran towing tank test, recovery coefficient, heave quality and pitching inertia
Torque, carries out decoupled identification by ship dynamics equation and goes out motion model of the trimaran under power effect.The present invention is directed to three bodies
The identification problems of model of ship, proposes a kind of discrimination method based on intelligent algorithm, can carry out trimaran towing tank test
In the case of, according to the wave force obtained under frequency domain, wave torque, additional mass, damped coefficient, recovery coefficient, heave quality and
Pitching moment of inertia calculates six transmission functions to be identified, so as to obtain the trimaran lengthwise movement matched with real system
Model.The present invention is applied to analyze the trimaran motion conditions under complicated sea situation, can be widely applied to subtract vertical to ship
Among the control shaken, the rapidity of algorithm and the intelligent trimaran model for ensureing to obtain also can at a high speed under complicated sea situation
Accurately estimate real motion situation.
With reference to shown in Fig. 1, the present invention is achieved by the following technical solutions, specifically includes following steps：
(1) wave force and the amplitude and phase of wave torque being fixed from the towing trial of trimaran pond under the speed of a ship or plane
Position；
(2) wave force and the amplitude and phase of wave torque obtained trimaran pond towing trial becomes as input
Amount；The order of transmission function molecule denominator is determined, molecule order is less than or equal to denominator order；According to the genetic algorithm journey write
Sequence picks out stress model of the trimaran under wave effect, is made up of two transmission functions；
(3) under heave quality, pitching moment of inertia, the fixed speed of a ship or plane that trimaran is obtained from the towing trial of trimaran pond
Additional mass, damped coefficient and recovery coefficient；
(4) equation of motion of hull is decoupled, changes into state equation form；
(5) will be additional under the heave quality obtained in the towing trial of trimaran pond, pitching moment of inertia, the fixed speed of a ship or plane
Quality, damped coefficient and recovery coefficient obtain four biographies under the fixed speed of a ship or plane according to the state equation of solution decoupling as input
The motion model of delivery function, as hull under power effect.
Specific genetic algorithmic steps in described step (2) are as follows：
(2.1) transfer function model to be estimated is obtained, the Parameter Estimation Problem of transmission function is exactly by dragging in frequency domain
The frequency response or Bode diagram of draging the transmission function obtained in basin test obtain the transmission of fixed zero pole point number to be estimated
The problem of function, the lengthwise movement model under frequency domain is as follows：
In formula：B (s, θ) and A (s, θ) is two transmission functions.
(2.2) to identification mode of the model using parametrization, parameter vector θ is estimated by experimental data, θ is defined as：
θ=(bm+1,bm,bm-1,…,b1,an,an-1,…,a1)；
(2.3) corresponding cost function is obtained by each group of parameter vector θ, corresponding cost function is：
In formula：|G(jωi) | it is the amplitude of experimental data Wave power (wave torque)；arg(G(jωi)) it is experiment number
According to the phase of Wave power (wave torque)；|G(jωi, θ) | for the transmission function amplitude picked out；arg(G(jωi, θ)) be
The phase of the transmission function picked out；
(2.4) in order that model is optimal, it is necessary to repeatedly be selected, intersected, made a variation, finally giving makes transmission function
Amplitude and phase and towing tank test in the minimum one group of parameter vector of obtained data relative error, so as to pick out most
Stress model of the whole ship under wave effect.
It is as follows shown in the equation of motion of hull in described step (4)：
In formula：x3For heave amount, x5For pitching amount, m33For heave quality, m55For pitching moment of inertia, aijFor additional matter
Amount, bijFor damped coefficient, cijFor recovery coefficient, ω is input Ocean-wave Signal, FiThe power acted on for Ocean-wave Signal on hull,
γiThe phase acted on for Ocean-wave Signal on hull.
A kind of described trimaran lengthwise movement identification Method, can be fast after pond towing trial data are obtained
Speed picks out trimaran lengthwise movement model exactly.
The present invention devise it is a kind of be applied to the trimaran motion conditions under complicated sea situation are analyzed, can extensive use
Among to the antipitching control of ship, the rapidity of algorithm and the intelligent trimaran model for ensureing to obtain are multiple in high speed
Also real motion situation can be accurately estimated under miscellaneous sea situation.
Embodiment 1
Using certain trimaran as research object, the lengthwise movement model under frequency domain is as follows：
A kind of trimaran lengthwise movement identification Method designed according to the present invention, specifically includes following steps：
The first step, composition frame chart with reference to shown in Fig. 2 sets up a trimaran lengthwise movement model identification system, and by water
In deposit computer shown in the experimental data combination Fig. 4 of the trimaran that pond towing trial is obtained under the 40 section speed of a ship or plane.Fig. 4 is three bodies
Wave force and wave torque datagram of the ship under the 40 section speed of a ship or plane, wherein F3Represent wave force, F5Represent wave torque.
Second step, by with reference to the data input in Fig. 4 into the genetic algorithm program write with reference to shown in Fig. 3, it is right
Genetic algorithm parameter sets as follows：
Selection mode uses roulette selection, crossover probability 0.8, mutation probability 0.008, maximum iterative times 500, individual
Length 30, generation gap 0.9.The initial population generated at random, by selection, intersection, variation, obtaining one group obtains fitness function
The parametric variable of minimum value, so as to pick out stress model of the hull under wave effect.
With reference to shown in Fig. 2, above formula is stress model of two hulls under wave effect, respectively changes into Ocean-wave Signal
Wave force, wave torque is changed into by Ocean-wave Signal.
Additional mass under 3rd step, input heave quality, pitching moment of inertia and the 40 section speed of a ship or plane, damped coefficient is extensive
Complex coefficient is into computer.Specific data are as follows：
Wherein input heave quality is m33=43.14kg；Pitching moment of inertia is m55=28.09kg*m*m；The 40 section speed of a ship or plane
Under additional mass be a33=165.73kg, a35=-7.29kg*m, a53=35.67kg*m, a55=708.04kg*m*m；Damping
Coefficient b33=16.91kg/s, b35=894.32kg*m/s, b53=-257.51kg*m/s, b55=144.69kg*m*m/s；Recover
Coefficient is c33=6450.14N/m, c35=1080.10N, c53=1080.10N, c53=3920.70N*m.
4th step：The equation of motion of hull is decoupled, state equation form, the motion side of the hull is changed into
It is as follows shown in formula：
5th step：By the additional mass obtained in the towing trial of trimaran pond under the 40 section speed of a ship or plane speed of a ship or plane, damped coefficient and
Recovery coefficient obtains four transmission functions under the 40 section speed of a ship or plane according to the state equation of solution decoupling as input, and as hull exists
Motion model under power effect.
With reference to shown in Fig. 2, above formula is motion model of four hulls under power effect, and wave force is transformed into heave respectively
Amount, is transformed into heave amount by wave torque, wave force is transformed into pitching amount, wave torque is transformed into pitching amount.
It is pair between the wave force and real data that the model emulation picked out in the present embodiment is obtained with reference to shown in Fig. 5
Than figure, wherein Magnitude and Phase represent the amplitude and phase of wave force respectively.It is to distinguish in the present embodiment with reference to shown in Fig. 6
Know the comparison diagram between the wave torque and real data that the model emulation obtains, wherein Magnitude and Phase difference tables
The amplitude and phase of oscillography wave torque.
Described above is the accurate identification effect that one embodiment that the present invention is provided is shown.It may be noted that this hair
Bright to be not limited solely to above-described embodiment, the present invention is directed to trimaran lengthwise movement identification Method, so suitable for the various speed of a ship or plane
Trimaran lengthwise movement Model Distinguish under various sea situations.
Claims (5)
1. a kind of trimaran lengthwise movement identification Method, it is characterised in that specifically include following steps：
(1) wave force and the amplitude and phase of wave torque being fixed from the towing trial of trimaran pond under the speed of a ship or plane；
(2) wave force and the amplitude and phase of wave torque obtained trimaran pond towing trial is used as input variable；Really
Determine the order of transmission function molecule denominator, molecule order is less than or equal to denominator order；Genetic algorithm program according to writing is distinguished
Know the stress model for trimaran under wave effect, be made up of two transmission functions；
(3) obtain attached under the heave quality, pitching moment of inertia, the fixed speed of a ship or plane of trimaran from the towing trial of trimaran pond
Plus quality, damped coefficient and recovery coefficient；
(4) equation of motion of hull is decoupled, changes into state equation form；
(5) by the additional matter under the heave quality obtained in the towing trial of trimaran pond, pitching moment of inertia, the fixed speed of a ship or plane
Amount, damped coefficient and recovery coefficient obtain four transmission under the fixed speed of a ship or plane according to the state equation of solution decoupling as input
The motion model of function, as hull under power effect.
2. a kind of trimaran lengthwise movement identification Method according to claim 1, it is characterised in that described step
(2) the specific genetic algorithmic steps in are as follows：
(2.1) transfer function model to be estimated is obtained, the Parameter Estimation Problem of transmission function is exactly by towing water in frequency domain
The frequency response of the transmission function obtained in the experiment of pond or Bode diagram obtain the transmission function of fixed zero pole point number to be estimated
The problem of, the lengthwise movement model under frequency domain is as follows：
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In formula：B (s, θ) and A (s, θ) is two transmission functions；
(2.2) to identification mode of the model using parametrization, parameter vector θ is estimated by experimental data, θ is defined as：
θ=(bm+1,bm,bm-1,…,b1,an,an-1,…,a1)；
(2.3) corresponding cost function is obtained by each group of parameter vector θ, corresponding cost function is：
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In formula：|G(jωi) | it is the amplitude of experimental data Wave power (wave torque)；arg(G(jωi)) in experimental data
The phase of wave force (wave torque)；|G(jωi, θ) | for the transmission function amplitude picked out；arg(G(jωi, θ)) it is identification
The phase of the transmission function gone out；
(2.4) in order that model is optimal, it is necessary to repeatedly be selected, intersected, made a variation, finally giving makes the width of transmission function
Value and phase and one group of parameter vector of the data relative error minimum obtained in towing tank test, so as to pick out final
Stress model of the ship under wave effect.
3. a kind of trimaran lengthwise movement identification Method according to claim 1, it is characterised in that described step
(4) it is as follows shown in the equation of motion of the hull in：
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<mn>5</mn>
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</mrow>
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<msub>
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<mn>55</mn>
</msub>
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<mi>c</mi>
<mn>55</mn>
</msub>
<msub>
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<mn>5</mn>
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<mo>+</mo>
<msub>
<mi>a</mi>
<mn>53</mn>
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<mn>3</mn>
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In formula：x3For heave amount, x5For pitching amount, m33For heave quality, m55For pitching moment of inertia, aijFor additional mass, bij
For damped coefficient, cijFor recovery coefficient, ω is input Ocean-wave Signal, FiThe power acted on for Ocean-wave Signal on hull, γiFor sea
Phase of the unrestrained signal function on hull.
4. a kind of trimaran lengthwise movement identification Method according to claim 1, it is characterised in that：Trimaran longitudinal direction
Motion model is mainly made up of two parts, the stress model that Part I is hull under wave effect, including two transmission letters
Number, it is the unrestrained high of wave that it, which is inputted, and output is wave force and wave torque respectively；Part II is fortune of the hull under power effect
Movable model, including four transmission functions, are transformed into heave amount by wave force respectively, wave torque are transformed into heave amount, by ripple
Unrestrained power is transformed into pitching amount, and wave torque is transformed into pitching amount.
5. a kind of trimaran lengthwise movement identification Method according to claim 1, it is characterised in that：Obtaining pond
After towing trial data, trimaran lengthwise movement model can be rapidly and accurately picked out.
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