CN103895831B - A kind of boats and ships fin/wing fin rollstabilization anti-saturation controls device and control method thereof - Google Patents

Abstract

The invention belongs to ship control field, control device and control method thereof particularly to a kind of boats and ships fin/wing fin rollstabilization anti-saturation.A kind of boats and ships fin/wing fin rollstabilization anti-saturation controls device, including rolling detection device, without constraint controller, fin angle blade fin angle intelligent decision device, anti-saturation compensator and anti-saturation controller.The present invention makes full use of many chains of command advantage of fin/wing fin, improves rolling ability of righting and reduces system energy consumption, improves ship stabilization control performance.

Description

A kind of boats and ships fin/wing fin rollstabilization anti-saturation controls device and control method thereof

Technical field

The invention belongs to ship control field, particularly to a kind of boats and ships fin/wing fin rollstabilization anti-saturation control device and Its control method.

Technical background

During ship's navigation, roll damping is the least, can produce violent rolling motion in stormy waves.The direct shadow of rolling of boats and ships Ringing the airworthiness to boats and ships, produce many adverse effects, serious rolling motion causes on-board equipment cisco unity malfunction, makes ship Upper goods is damaged, and even jeopardizes the navigation safety of boats and ships；Rolling also can make crewman live not feel well, and reduces the work of crewman Make efficiency；For warship, rolling also affects the use of weaponry, makes carrier-borne aircraft not land by safe take-off, military Device hit rate reduction etc..At present, stabilizer is maximally efficient active antirolling device.

Fin stabilizing system research in early days, pursues fin face simple in construction, thus mostly uses overall fin.But on boats and ships Overall fin, because fin aspect ratio is less, fin angle is limited by lift stall and cavity, and for installing the boats and ships of two pairs of fins additional, after The purling that fin is caused by front fin is affected, and makes skeg drop in lift, the interference between two fins directly affects rollstabilization effect.In order to Improve lift and suppression cavity, it is proposed that fin/wing fin independence aerofoil any rotation angle is than the imagination of vector controlled, by fin angle/wing Fin angle intelligent decision device optimizes, it is desirable to main fin corner rotates according to the optimal index under given way with wing fin corner, fully sends out Wave the effect of fin, to reaching to improve anti-rolling effect, reduce the purpose of energy expenditure, and then subtracting of boats and ships of raising shakes performance.

Additionally, fin stabilizing system is under Part load, actuator is saturated often in amplitude, speed saturation, even You also result in boats and ships do not subtract shake on the contrary increase shake, this is extremely hazardous for boats and ships；Its existence has had a strong impact on system Performance, brings huge challenge to the design of system controller.Simple increase fin servosystem power and fin area are obvious It is unrealistic, the most not wise move.Therefore introduce anti-saturation compensating control method, solve stabilizer damp constraint this The rough nonlinear problem that one class is prevalent in sorts of systems, this problem is also that asking of solution is needed in Control System Design badly One of topic.

Existing when controlling boats and ships fin/wing fin rollstabilization, saturated phenomenons of avoiding use the sides reducing controller gains more Method.I.e. it is limited in linear work district, underuses control capability and make system response slack-off and efficiency reduction, cause system Rolling control performance declines.Number of patent application is 200910071807.3, and entitled " watercraft rudder/wing rudder one fin/wing fin jointly controls Method " patent application document in disclose a kind of combination control method, but consider that the saturated anti-saturation of executor controls, Also need to be improved simultaneously about fin angle blade fin angle distribution method.

Summary of the invention

It is an object of the invention to provide a kind of boats and ships actuator and deposit when saturated, it is possible to improve ship rolling and subtract and shake effect The boats and ships fin of fruit/wing fin rollstabilization anti-saturation controls device, the present invention also aims to provide a kind of boats and ships fin/wing fin to subtract horizontal stroke Shake anti-saturation and control the control method of device.

The object of the present invention is achieved like this:

A kind of boats and ships fin/wing fin rollstabilization anti-saturation controls device, including rolling detection device, without constraint controller, fin Angle blade fin angle intelligent decision device, anti-saturation compensator and anti-saturation controller:

The ship rolling angle signal outfan of rolling detection device and the ship rolling angle signal input without constraint controller End is connected, without rolling righting moment signal output part and the rolling uprighting force of fin angle blade fin angle intelligent decision device of constraint controller Square signal input part is connected, the fin angle/wing fin angle command signal outfan of described fin angle blade fin angle intelligent decision device and anti-saturation The fin angle of controller/wing fin angle command signal input is connected, the ship rolling angle signal outfan of described anti-saturation controller It is connected with wing fin angle command signal input, the input of anti-saturation compensator of wing fin servosystem, anti-saturation compensator Outfan is connected with ship rolling angle signal input, and fin servosystem and wing fin servosystem drive fin, wing fin respectively.

A kind of control method of boats and ships fin/wing fin rollstabilization anti-saturation control device:

Step one, rolling detection device detect ship rolling angle signal；

Step 2, by described ship rolling angle signal by without constraint controller process, obtain ship stabilization institute The rolling righting moment signal needed；

Step 3, the rolling righting moment signal described in step 2 is calculated by fin angle blade fin angle intelligent decision device, Obtain the fin angle command signal needed for rolling righting moment and wing fin angle command signal；

Step 4, anti-saturation controller judge that the fin angle command signal described in step 3 and wing fin angle command signal whether can Cause that fin/wing fin actuator generation amplitude is saturated or speed is saturated, is then to perform step 5；No, then perform step 6；

Step 5, the command signal of fin angle described in step 3 and wing fin angle command signal are carried out by anti-saturation compensator Correcting process, the ship rolling angle signal after being compensated, and the ship rolling angle signal after compensating is horizontal as new boats and ships Cradle angle signal, returns step 2；

Step 6, the command signal of fin angle described in step 4 and wing fin angle command signal are sent respectively to fin servosystem Fin, wing fin is driven respectively, it is achieved the control to ship rolling with wing fin servosystem, fin servosystem and wing fin servosystem.

The beneficial effects of the present invention is:

(1) make full use of many chains of command advantage of fin/wing fin, improve rolling ability of righting and reduce system energy consumption, Improve ship stabilization control performance.

(2) the simulated annealing particle swarm optimization algorithm of application enhancements optimizes fin angle/wing fin angle, parallel fast in conjunction with population Speed advantage and the Global Optimality of simulated annealing, improve arithmetic accuracy by modified parameters, shortens the optimization time.

(3) MRS models treated boats and ships fin/wing fin actuator amplitude is introduced saturated with speed, and design system anti-saturation Compensating controller, it is ensured that system subtracts shakes performance and robustness.

Accompanying drawing explanation

Fig. 1 boats and ships fin/wing fin rollstabilization anti-saturation control system principle assumption diagram；

Fig. 2 boats and ships fin/wing fin rollstabilization anti-saturation controller design principle figure；

Fig. 3 fin angle/wing fin angle intelligent decision algorithm flow chart.

Detailed description of the invention

Below in conjunction with the accompanying drawings the present invention is described further:

Rolling detection device detection ship rolling angle signal, and its signal is sent into without constraint controller；Process wherein Obtain the rolling righting moment needed for ship stabilization, needed for calculating this rolling righting moment by fin angle blade fin angle intelligent decision device Fin angle and wing fin angle, be simultaneous for the saturation problem that actual boats and ships fin/wing fin actuator exists, introduce anti-saturation and compensate Device, compensates and corrects the control parameter of system when saturation occurs, is met the controller of rolling requirement；Fin servosystem Receive the fin angle of anti-saturation controller output, wing fin angle command signal respectively with wing fin servosystem, drive fin, that wing fin realizes is right Effective control of ship rolling.

The boats and ships fin of the present invention/wing fin rollstabilization control system is multi-input multi-output system, and by extraneous wave, The random disturbances such as Caulis Piperis Kadsurae, ocean current and model uncertainty impact.Consider system actuator there is saturated phenomenon, system subtract horizontal stroke Shake anti-saturation control method and be divided into two step designs, when system does not occurs saturated, in order to strengthen the robust performance of system, use robust Control the nothing constraint controller of Technology design boats and ships fin wing fin rollstabilization anti-saturation control system；When actuator occurs saturated Time, use anti-saturation compensating controller, introduce MRS models treated executor's amplitude and speed saturated phenomenon.

The present invention realizes the smart allocation to fin angle/wing fin angle by fin angle/wing fin angle intelligent decision device, uses first and changes The simulated annealing particle cluster algorithm entered optimizes fin angle/wing fin angle, under system drive energy consumption minimum principle, has obtained optimal control System combination.

In conjunction with Fig. 1, system includes anti-saturation controller, two set fin servosystem, two glove wing fin servosystem.Rolling signal Detection device.Wherein anti-saturation controller is by without constraint controller, fin angle/wing fin angle intelligent decision device, anti-saturation compensator three Part is constituted.

When system does not occurs saturated, only work with or without constraint controller, receive rolling detection device without constraint controller Ship rolling angle signal, Ship ' subtracts shakes required rolling righting moment, is given by fin angle/wing fin angle intelligent decision device The fin angle of best performance/wing fin angle combination.Now anti-saturation compensating controller feed back input is zero inoperative, and fin/wing fin is watched Dress system accepts fin angle now/wing fin angle signal and drives fin/wing fin, completes to subtract and shakes control；When executor occurs saturated, i.e. Now anti-saturation compensator feed back input is not zero, and anti-saturation compensator works, and utilizes the output of anti-saturation compensator to revise nothing The state of constraint control and output, reach to eliminate the purpose of the saturated impact of system actuators, it is achieved perform boats and ships fin/wing fin Rollstabilization anti-saturation under the saturated operating mode of device controls effect, effectively improves subtracting of system and shakes performance.

In conjunction with Fig. 2, this patent realizes the design of boats and ships rollstabilization anti-saturation controller by following steps.

The first step: set up ship rolling motion equation

According to boats and ships motion and fluid mechanics principle, for having the boats and ships that fin/wing fin configures, obtain ship rolling motion Nonlinear model is:

Wherein: I_xFor the boats and ships rotary inertia to x-axis；ΔI_xFor the boats and ships additional rotation inertia to x-axis；P is roll angle speed Degree；2N_pBoats and ships damping torque for per unit angular velocity in roll；W is vessel displacement；H is that Transverse Metacenter is high；For roll angle；m For boats and ships quality；m_xFor surging additional mass；m_yFor swaying additional mass；U is surging speed；V is swaying speed；R is yaw angle Speed；z_HFor the application point of boats and ships cross force to the vertical distance of center of gravity；Y., N. is ship viscous hydrodynamic force coefficient；K_rRudder produces Rolling moment；α_fFor fin angle；β_fFor wing fin angle；K_f(α_f,β_f) it is respectively fin/wing fin rolling moment；K_dThe sea being subject to for boats and ships Wave rolling disturbance torque.

Ignore swaying and the impact of yawing in formula (1), and ignore the nonlinear terms in equation, obtain ship rolling motion line Property model (Conolly model) is:

Second step: the equation of motion is converted to the canonical form of state-space representation

System is carried out based on ship rolling motion equation without the design of constraint controller, if Wherein a.., b.., c.. are ship viscous hydrodynamic force coefficient, it is considered in model (2) Parameter uncertainty, there is probabilistic parameter predominantlyHave:

Wherein: δ_iFor uncertain variables, and have | | δ_i| |≤1, i=1,2,3.

Make x=[x₁ x₂]^T,U=K_f(α_f,β_f), w₁=K_d, (2) formula can be written as state space The canonical form realized:

$\stackrel{\·}{x}=(A+\mathrm{\ΔA})x+(B_1+\mathrm{\Δ}{B}_1)u+B_{2}w---\left(3\right)$

Wherein: $A={\stackrel{\‾}{A}}_1^{-1}\stackrel{\‾}{B},\mathrm{\ΔA}={\stackrel{\‾}{A}}_1^{-1}\mathrm{\ΔB},B_1=B_2={\stackrel{\‾}{A}}_1^{-1}C$ Have:

C=[0 1]^T, ΔB₁=0_2×1

For following structure:

[ΔA ΔB₁]=HF [E₁ E₂]

Therefore: $F=\left[\begin{array}{cc}{\mathrm{\δ}}_3& 0\\ 0& {\mathrm{\δ}}_2\end{array}\right],$ E₁=I_2×2, E₂=0_2×1

Wherein: F is uncertain diagonal matrix, it is clear that be to meet F^TF≤I's.

3rd step: based on the fin angle/wing fin angle intelligent decision device design improving simulated annealing particle cluster algorithm

According to the vector controlled thought of fin/wing fin, for righting moment and fin/wing fin polynary multivalued function relation, introduce The simulated annealing particle swarm optimization algorithm design fin/wing fin angle intelligent decision device improved, the optimal fin of optimizing/wing fin angular distribution plan Slightly.

1. set up system drive energy equation and using " driving energy minimum " as object function, and provide fin angle/wing The constraints of fin angle intelligent decision device angular distribution.

If the fin angle in k moment and wing fin angle are respectively α_f(k) and β_fK (), without constraint controller calculated rolling righting Moment values isFin angle blade fin angle intelligent decision device is for determining the fin angle α in k+1 moment_fAnd wing fin angle beta (k+1)_f(k+ 1)。

First α in constraints_f(k+1) β_f(k+1) need to meet:

Wherein:

K_f(α_f(k+1),β_f(k+1))=ρ lv²A_FC_yf(α_f,β_f) (5)

In formula: ρ is density of sea water；L is the fin/Yi Qi center length to ship center of gravity；V is ship speed；A_FFor fin/wing fin Projected area, C_yf(α_f,β_f) it is the lift coefficient of fin/wing fin.

Consider that fin angle/wing fin angle is spacing and fin speed/wing fin speed limit is shaped with:

$\left\{\begin{array}{c}\left|{\mathrm{\α}}_f(k+1)\right|\≤{\mathrm{\α}}_{f\max }\\ \left|{\mathrm{\β}}_f(k+1)\right|\≤{\mathrm{\β}}_{f\max }\end{array}\right.---\left(6\right)$

$\left\{\begin{array}{c}\left|\frac{{\mathrm{\α}}_f(k+1)-{\mathrm{\α}}_f\left(k\right)}{\mathrm{\Δt}}\right|\≤{\stackrel{\·}{\mathrm{\α}}}_{f\max }\\ \left|\frac{{\mathrm{\β}}_f(k+1)-{\mathrm{\β}}_f\left(k\right)}{\mathrm{\Δt}}\right|\≤{\stackrel{\·}{\mathrm{\β}}}_{f\max }\end{array}\right.---\left(7\right)$

In formula: α_fmax、β_fmaxIt is respectively maximum fin angle and maximum wing fin angle；Be respectively maximum fin speed and Maximum wing fin speed, Δ t is the sampling interval.

In order to give full play to the energy-saving effect of fin/wing fin, the design of fin angle/wing fin angle intelligent decision device should follow that " system is driven Energy is minimum " principle.

Fin/wing fin is from α_f(k)/β_fK () goes to α_f(k+1)/β_f(k+1) the expression formula Δ J of system drive energy time_f(k+1) For:

In formula: M_J、M_h、M_fThe moment of inertia of generation, righting moment, moment of friction when being respectively the change of fin speed；M_{The J wing}、M_{The h wing}、 M_{The f wing}It is respectively the moment of inertia of wing fin, righting moment and moment of friction；C_m(α_f,β_f) it is fin torque coefficient；C_{The m wing}(α_f,β_f) it is the wing Fin torque coefficient；S_pFor fin area；b_pFor the hydrodynamism point distance away from fin axle；S_{The p wing}For wing fin area；b_{The p wing}For hydrodynamic(al) masterpiece By the some distance away from wing fin axle.

When after fin parameter determination, Δ J_f(k+1) it is α_fAnd β (k+1)_f(k+1) function, fin angle/wing fin angle intelligent decision Device angular distribution rule is:

2. use and improve simulated annealing particle cluster algorithm optimization α_fAnd β (k+1)_f(k+1) intelligence at fin angle/wing fin angle is realized Can distribution.The most specifically during application, algorithm improvement is as follows:

When using simulated annealing particle cluster algorithm to optimize fin angle/wing fin angle, producing initial population α_fAnd β (k+1)_f(k+1) Time first have to meet the constraints in formula equation (4), introduce Lagrange multiplier undetermined herein, use Lagrange to take advantage of Sub-method processes equality constraint (4), constraints is transformed in Lagrangian, further by Optimization Solution optimal solution.

Object function is: minf (α_f(k+1),β_f(k+1))=min Δ J_f(k+1)

Structure Lagrangian is:

Function L is that minimizing essential condition is

$\frac{\∂L}{\∂{\mathrm{\α}}_f(k+1)}=0,\frac{\∂L}{\∂{\mathrm{\β}}_f(k+1)}=0,\frac{\∂L}{\∂\mathrm{\λ}}=0$

Functional form for ease of solving introducing new is as follows:

$Z={\left(\frac{\∂L}{\∂{\mathrm{\α}}_f(k+1)}\right)}^2+{\left(\frac{\∂L}{\∂{\mathrm{\β}}_f(k+1)}\right)}^2+{\left(\frac{\∂L}{\∂\mathrm{\λ}}\right)}^2---\left(11\right)$

The now minima of solved function Z, is the optimum of fin angle blade fin angle assignment problem under equation (4) constraints Value.Process corresponding bound constraint (9) on this basis, obtain the constraints of angular distribution problem.

Algorithm is made to reach overall situation detection and local exploitation between the two effectively flat for efficiently controlling the flight speed of particle Weighing apparatus, introduces contraction factor renewal speed, and uses relaxation velocity update strategy, strengthens local search ability.

v_i,j(t+1)=v_i,j(t) f(x_i,j(t))≤f(x_i,j(t-1)) (13)

x_i,j(t+1)=x_i,j(t)+v_i,j(t+1) (14)

Wherein:

On the basis of above improvement, provide the improvement simulated annealing population intelligent decision algorithm at fin angle/wing fin angle Flow chart is shown in accompanying drawing 3.

4th step: nothing constraint controller C when design actuator does not occurs saturated

For ship rolling control system, system H^∞Performance is the most relevant with roll angle, it is desirable to improves to subtract and shakes control Precision, strengthens the robustness that sea wave disturbance and model parameter are perturbed by system;For system H²For performance, then need comprehensively to examine Consider roll angle and angular velocity in roll and the constraint to controlled quentity controlled variable, accordingly the performance evaluation letter of definition ship rolling control system Number:

On the basis of second step is analyzed, design system, without constraint controller, is calculated by the LMI workbox in Matlab Obtain ship rolling H²/H^∞Robust State-Feedback actuator C.

5th step: anti-saturation compensating controller L when design actuator occurs saturated

When fin/wing fin executor occurs amplitude and speed saturated, owing to holding without the output i.e. fin/wing fin of constraint controller The input of row mechanism and executor export inconsistent, cause systematic function to decline, and in MRS models treated system amplitude is incorporated herein Item saturated with speed, on this basis design anti-saturation compensating controller L.The most former defeated without the constraint additional anti-saturation of control law Enter $\left[\begin{array}{c}{v}_1\\ v_2\end{array}\right]=\mathrm{Lq},$ Wherein

$q^T=\left(\begin{array}{cccc}{\mathrm{\α}}_f-{\mathrm{sat}}_m\left({\mathrm{\α}}_f\right)& {\mathrm{\β}}_f-{\mathrm{sat}}_m\left({\mathrm{\β}}_f\right)& {\stackrel{\·}{\mathrm{\α}}}_f-{\mathrm{sat}}_m\left({\stackrel{\·}{\mathrm{\α}}}_f\right)& {\stackrel{\·}{\mathrm{\β}}}_f-{\mathrm{sat}}_m\left({\stackrel{\·}{\mathrm{\β}}}_f\right)\end{array}\right)$

By MRS model (see figure 1) by this system converting general framework saturated for amplitude, according to its closed loop system algebraically The necessary and sufficient condition that circulation pattern is fixed, based on secondary Lyapunov function, uses norm-bounded differential to comprise the saturated item of process, and design obtains Meet the non-linear of system robust stability and less ω → zThe anti-saturation compensating controller of gain.Wherein anti-saturation is mended Repay the convex optimization problem that can change into LMI constraint when device solves, utilize Matlab workbox to solve.

The most saturated item defines $\mathrm{sat}\left({\mathrm{\&alpha;}}_f\right)=\left\{\begin{array}{c}{\mathrm{\&alpha;}}_{f\max },0<{\mathrm{\&alpha;}}_{f\max }<{\mathrm{\&alpha;}}_f\\ {\mathrm{\&alpha;}}_f,-{\mathrm{\&alpha;}}_{f\max }<{\mathrm{\&alpha;}}_f<{\mathrm{\&alpha;}}_{f\max }\\ -{\mathrm{\&alpha;}}_{f\max },{\mathrm{\&alpha;}}_f<-{\mathrm{\&alpha;}}_{f\max }<0\end{array}\right.,$ Other is similar in this.

Claims (2)

1. boats and ships fin/wing fin rollstabilization anti-saturation controls a device, including rolling detection device, without constraint controller, fin angle Wing fin angle intelligent decision device, anti-saturation compensator and anti-saturation controller, it is characterised in that:

The ship rolling angle signal outfan of rolling detection device and the ship rolling angle signal input phase without constraint controller Even, believe with the rolling righting moment of fin angle blade fin angle intelligent decision device without the rolling righting moment signal output part of constraint controller Number input is connected, and the fin angle/wing fin angle command signal outfan of described fin angle blade fin angle intelligent decision device controls with anti-saturation The fin angle of device/wing fin angle command signal input is connected, and the ship rolling angle signal outfan of described anti-saturation controller is respectively It is connected with wing fin angle command signal input, the input of anti-saturation compensator of wing fin servosystem, anti-saturation compensator Outfan is connected with ship rolling angle signal input, and fin servosystem and wing fin servosystem drive fin, wing fin respectively.

2. boats and ships fin/wing fin rollstabilization anti-saturation controls a control method for device, it is characterized in that:

Step one, rolling detection device detect ship rolling angle signal；

Step 2, by described ship rolling angle signal by without constraint controller process, needed for obtaining ship stabilization Rolling righting moment signal；

Step 3, the rolling righting moment signal described in step 2 is calculated by fin angle blade fin angle intelligent decision device, obtain Fin angle command signal needed for rolling righting moment and wing fin angle command signal；

Step 4, anti-saturation controller judge whether the fin angle command signal described in step 3 and wing fin angle command signal can cause Fin/wing fin actuator generation amplitude is saturated or speed is saturated, is then to perform step 5；No, then perform step 6；

Step 5, the command signal of fin angle described in step 3 and wing fin angle command signal are modified by anti-saturation compensator Process, the ship rolling angle signal after being compensated, and will compensate after ship rolling angle signal as new ship rolling angle Signal, returns step 2；

Step 6, the command signal of fin angle described in step 4 and wing fin angle command signal are sent respectively to fin servosystem and the wing Fin servosystem, fin servosystem and wing fin servosystem drive fin, wing fin respectively, it is achieved the control to ship rolling.