CN104216398A - Control system for wave piercing catamaran and control parameter online-tuning method thereof - Google Patents

Abstract

The invention discloses an online tuning method of control parameters of a control system for a wave piercing catamaran. When the control system runs, scale factors kp11, kp13, kp21 and kp23 are tuned online in real time; attitude control for the wave piercing catamaran is achieved through controlled quantities generated from the tuned scale factors kp11, kp13, kp21 and kp23. A tuning mode includes the steps: four signals, namely pitching angle, pitching angular speed, heaving displacement and heaving speed, of the wave piercing catamaran during moving and deviations of the respective given signals are acquired through actual acquisition and processing of the wave piercing catamaran, the signals and the deviations are input into a fuzzy controller, the fuzzy controller generates scale factors kp11, kp13, kp21 and kp23, tuned online, according to preset fuzzy rules. The control system and the method have the advantages that the requirement for automatic adjustment of online control parameters of the wave piercing catamaran can be met, the control method is more adaptive to external environments, and control precision is improved accordingly.

Description

The on-line tuning method of wave piercing catamaran control system and controling parameters thereof

Technical field

The invention belongs to ship's navigation Design of Automatic Control System field, be specifically related to a kind of on-line tuning method of wave piercing catamaran system and controling parameters thereof.

Background technology

Wave piercing catamaran is a kind of new herbicide be born in recent years, have the features such as the speed of a ship or plane is high, sea keeping quality good, shallow draft, seakeeping capacity are excellent, manoeuvrable, deck plane are spacious, easy to use, wave piercing catamaran widely uses because its excellent high speed and sea-keeping obtain shipping world.But operating practice shows, compared with conventional round-bilge ship or Deep-vee hull form, wave piercing catamaran hang down swing, improvement in the characteristic such as rolling is not obvious, still needs further improvement.Navigation automatic control subtracts that to shake be a kind of effective means improving wave piercing catamaran sea-keeping.But China mainly lays particular emphasis on Ship Structure and Hydrodynamic design thereof to the research of wave piercing catamaran, subtract the research of shaking for wave piercing catamaran navigation automatic control then less.

For this reason, a kind of feasible mode sets up proportional controller to the real-time angle of attack of topworks before wave piercing catamaran _fwith the real-time angle of attack of rear topworks _tcontrol, as shown in Figure 1, the input parameter of this proportional controller is pitch angular θ, the angular velocity in pitch of wave piercing catamaran hull under operational configuration hang down to swinging displacement h and hang down and swing speed respectively with the deviation of corresponding steering order, export as the real-time angle of attack of front topworks _fangle of attack real-time with rear topworks _t, output order completes corresponding actions to topworks, realizes wave piercing catamaran pitching and reducing or eliminating of hanging down and swing.

The Controlling model of wave piercing catamaran proportional controller can be written as following form:

u＝-Kx (1)

Wherein, input quantity x=(x ₁x ₂x ₃x ₄), x ₁displacement h is swung, x for hanging down ₂speed is swung for hanging down x ₃for pitch angular θ, x ₄for angular velocity in pitch control vector is $u=\left[\begin{array}{c}{\mathrm{\α}}_f\\ {\mathrm{\α}}_a\end{array}\right],$ And α _ffor the front topworks angle of attack, α _afor the rear topworks angle of attack; K is feedback gain matrix:

$K=\left[\begin{array}{cccc}{k}_{p11}& k_{p12}& k_{p13}& k_{p14}\\ k_{p21}& k_{p22}& k_{p23}& k_{p24}\end{array}\right]$

K _p11hang down for front topworks and swing the scale factor of dynamic respond adjustment;

K _p12hang down for front topworks and swing the scale factor of speed responsive adjustment;

K _p13for the scale factor of front topworks pitch angular response regulation;

K _p14for the scale factor of front topworks angular velocity in pitch response regulation;

K _p21hang down for rear topworks and swing the scale factor of dynamic respond adjustment;

K _p22hang down for rear topworks and swing the scale factor of speed responsive adjustment;

K _p23for the scale factor of rear topworks pitch angular response regulation;

K _p24for the scale factor of rear topworks angular velocity in pitch response regulation.

The motion of wave piercing catamaran in wave belongs to typical uncertain system, the impacts such as disturbing factor and running working condition such as wind-engaging, wave, stream, are difficult to obtain accurate mathematical model, and, for different situations, the concrete value of above-mentioned feedback gain matrix K may be different.Therefore adopt fixing feedback gain matrix K will regulation control method to the automatic adaptive faculty of external environment condition, thus affect control accuracy.

Summary of the invention

In view of this, the invention provides a kind of wave piercing catamaran pitching and the controling parameters on-line tuning method of swinging of hanging down, the self-adjusting requirement of wave piercing catamaran On-line Control parameter can be met, improve control method to the automatic adaptive faculty of external environment condition, thus improve control accuracy.

The control system that the on-line tuning method of this wave piercing catamaran control system controling parameters adopts adopts the Controlling model of u=-Kx; X=(x ₁x ₂x ₃x ₄) be controller input parameter, x ₁displacement is swung, x for hanging down ₂speed is swung, x for hanging down ₃for pitch angular, x ₄for angular velocity in pitch; Control vector is $u=\left[\begin{array}{c}{\mathrm{\α}}_f\\ {\mathrm{\α}}_a\end{array}\right],$ α _ffor the front topworks angle of attack, α _afor the rear topworks angle of attack; Feedback gain matrix $K=\left[\begin{array}{cccc}{k}_{p11}& k_{p12}& k_{p13}& k_{p14}\\ k_{p21}& k_{p22}& k_{p23}& k_{p24}\end{array}\right],$ K _p11hang down for front topworks and swing the scale factor of dynamic respond adjustment, k _p12hang down for front topworks and swing the scale factor of speed responsive adjustment, k _p13for the scale factor of front topworks pitch angular response regulation, k _p14for the scale factor of front topworks angular velocity in pitch response regulation, k _p21hang down for rear topworks and swing the scale factor of dynamic respond adjustment, k _p22hang down for rear topworks and swing the scale factor of speed responsive adjustment, k _p23for the scale factor of rear topworks pitch angular response regulation; k _p24for the scale factor of rear topworks angular velocity in pitch response regulation;

In wave piercing catamaran control system operational process, real time contrast's example factor k _p11, k _p13, k _p21and k _p23carry out on-line tuning, adopt the scale factor k after adjusting _p11, k _p13, k _p21and k _p23produce controlled quentity controlled variable, realize the gesture stability of wave piercing catamaran;

Described setting mode is: by the actual acquisition of wave piercing catamaran hull and process, obtain the pitch angular in wave piercing catamaran motion process, angular velocity in pitch, hang down to swinging displacement and hang down and swing the deviation of these four signals of speed and respective Setting signal, and input fuzzy controller, the scale factor k after fuzzy controller utilizes the fuzzy rule preset to produce on-line tuning _p11, k _p13, k _p21and k _p23.

Preferably, adjust described in and specifically comprise the steps:

Step 1, by actual acquisition to wave piercing catamaran hull, obtain pitch angular, angular velocity in pitch, hang down to swinging displacement and hang down and swing speed, these four signals compare the corresponding deviation of rear acquisition to Setting signal, then adopt corresponding deviation gain K1 ~ K4 to carry out specification handles respectively, the codomain scope of deviation and the domain of fuzzy variable are coincide;

Step 2, employing triangular membership and 7 sections of fuzzy subsets carry out obfuscation to the deviation after specification handles, obtain deviation fuzzy value;

Step 3, the fuzzy reasoning table adopting deviation fuzzy value to substitute into setting carry out fuzzy reasoning, the fuzzy value of adjusted rear scale factor; Wherein,

Pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the first fuzzy reasoning table _p13fuzzy value;

Pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the second fuzzy reasoning table _p23fuzzy value;

Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 3rd fuzzy reasoning table _p11fuzzy value;

Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 4th fuzzy reasoning table _p21fuzzy value;

The fuzzy value ambiguity solution of scale factor after step 4, adjustment that step 3 is obtained, and adopt output gain Ku1 ~ Ku4 to process the ambiguity solution value of scale factor after regulating, make to regulate the end value of rear scale factor to meet its codomain scope.

Preferably, the first fuzzy reasoning table is:

Second fuzzy reasoning table, the 3rd fuzzy reasoning table and the 4th fuzzy reasoning table are:

Wherein, NB, NM, NS, ZO, PS, PM, PB represent respectively successively negative large, negative in, negative little, zero, just little, center, honest.

Wave piercing catamaran control system provided by the present invention, comprising: on-line tuning unit and control module;

Described control module, receives input parameter x=(x ₁x ₂x ₃x ₄), x ₁displacement is swung, x for hanging down ₂speed is swung, x for hanging down ₃for pitch angular, x ₄for angular velocity in pitch; After substituting into Controlling model u=-Kx, export control vector $u=\left[\begin{array}{c}{\mathrm{\α}}_f\\ {\mathrm{\α}}_a\end{array}\right]$ Be applied to front topworks and rear topworks, α _ffor the front topworks angle of attack, α _afor the rear topworks angle of attack;

Wherein, feedback gain matrix $K=\left[\begin{array}{cccc}{k}_{p11}& k_{p12}& k_{p13}& k_{p14}\\ k_{p21}& k_{p22}& k_{p23}& k_{p24}\end{array}\right],$ K _p11hang down for front topworks and swing the scale factor of dynamic respond adjustment, k _p12hang down for front topworks and swing the scale factor of speed responsive adjustment, k _p13for the scale factor of front topworks pitch angular response regulation, k _p14for the scale factor of front topworks angular velocity in pitch response regulation, k _p21hang down for rear topworks and swing the scale factor of dynamic respond adjustment, k _p22hang down for rear topworks and swing the scale factor of speed responsive adjustment, k _p23for the scale factor of rear topworks pitch angular response regulation; k _p24for the scale factor of rear topworks angular velocity in pitch response regulation; Wherein, scale factor k _p11, k _p13, k _p21and k _p23by on-line tuning unit on-line tuning;

Described on-line tuning unit, according to wave piercing catamaran pitch angular, angular velocity in pitch, hang down and swing displacement, vertical deviation of swinging these four signals of speed and respective Setting signal, the scale factor k after adopting the fuzzy rule preset in fuzzy controller to produce on-line tuning _p11, k _p13, k _p21and k _p23, send to control module.

Preferably, described on-line tuning unit specifically comprises: the first gain transformations module, obfuscation module, fuzzy reasoning module, ambiguity solution module and the second gain transformations module;

First gain transformations module, for to wave piercing catamaran pitch angular, angular velocity in pitch, hang down and swing displacement and the deviation of swinging these four signals of speed of hanging down adopts corresponding deviation gain K1 ~ K4 to carry out specification handles respectively, make the codomain scope of deviation identical with the domain of fuzzy variable;

Obfuscation module, for adopting triangular membership and 7 sections of fuzzy subsets to carry out obfuscation to the deviation after specification handles, obtains deviation fuzzy value;

Fuzzy reasoning module, for the fuzzy reasoning table adopting described deviation fuzzy value to substitute into setting, the fuzzy value of adjusted rear scale factor; Wherein, pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the first fuzzy reasoning table _p13fuzzy value; Pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the second fuzzy reasoning table _p23fuzzy value; Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 3rd fuzzy reasoning table _p11fuzzy value; Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 4th fuzzy reasoning table _p21fuzzy value;

Ambiguity solution module, for the fuzzy value ambiguity solution of scale factor after the adjustment that obtains fuzzy reasoning module;

Second gain transformations module, after the adjustment produced ambiguity solution module for adopting output gain Ku, the ambiguity solution value of scale factor processes, and makes to regulate the end value of rear scale factor to meet its codomain scope.

Beneficial effect:

(1) motion of wave piercing catamaran in wave belongs to typical uncertain system, for this situation, on-line tuning wave piercing catamaran of the present invention pitching and the controling parameters swung that hangs down, and adopt the fuzzy controller that can characterize preferably and can not use the model of equation expression, thus the self-adjusting requirement of wave piercing catamaran On-line Control parameter can be met, improve control method to the automatic adaptive faculty of external environment condition, thus improve control accuracy.

(2) the present invention is to adjustment portion scale factor (k _p11, k _p13, k _p21, k _p23), because other several scale factors are all to the scale factor swinging speed or angular velocity in pitch response regulation that hangs down, can be equivalent to the differential divisor swinging displacement and pitch angle that hangs down, relative to differential divisor, scale factor (k _p11, k _p13, k _p21, k _p23) play a major role, if comparative example Summing Factor differential divisor carries out online adjustment in real time simultaneously, the computation complexity of algorithm will significantly increase, be difficult to realize for the logical real-time control system hardware platform hung down, too much regulate factors may cause the uncertainty of system to increase in real time simultaneously, controls reliability and reduces.The present invention only regulates scale factor (k _p11, k _p13, k _p21, k _p23) just can overcome above-mentioned defect.

Accompanying drawing explanation

Fig. 1 is wave piercing catamaran controling parameters on-line tuning scheme schematic diagram of the present invention.

Fig. 2 is triangle membership function schematic diagram.

Fig. 3 is the composition schematic diagram of wave piercing catamaran control system of the present invention.

Embodiment

In order to improve the automatic adaptive faculty of control method to external environment condition, online dynamic conditioning can be carried out according to external environment to each scale factor.In feedback gain matrix K, scale factor k _p11, k _p13hang down for anterior topworks swing, the scale factor of pitch angular response regulation, k _p21, k _p23for rear portion topworks swing hanging down, the scale factor of pitch angular response regulation.And other several scale factors are all to hanging down the scale factor swinging speed or angular velocity in pitch response regulation, can be equivalent to the differential divisor swinging displacement and pitch angle that hangs down, but, relative to differential divisor, scale factor plays a major role, if comparative example Summing Factor differential divisor carries out online adjustment in real time simultaneously, the computation complexity of algorithm will significantly increase, be difficult to realize for the logical real-time control system hardware platform hung down, too much regulate factors may cause the uncertainty of system to increase in real time simultaneously, control reliability reduces, and therefore the present invention is only to k _p11, k _p13, k _p21, k _p23adjust in real time, and be equivalent to the k of differential divisor _p12, k _p14, k _p22, k _p24carry out real-time online to adjust.

The thinking of the on-line tuning method of this wave piercing catamaran control system controling parameters is: in wave piercing catamaran control system operational process, real time contrast's example factor k _p11, k _p13, k _p21and k _p23carry out on-line tuning, adopt the scale factor k after adjusting _p11, k _p13, k _p21and k _p23produce control vector, realize the gesture stability of wave piercing catamaran; Setting mode is: by the actual acquisition of wave piercing catamaran hull and process, obtain the pitch angular in wave piercing catamaran motion process, angular velocity in pitch, hang down to swinging displacement and hang down and swing the deviation of these four signals of speed, and input fuzzy controller, the scale factor k after fuzzy controller utilizes the fuzzy rule preset to produce on-line tuning _p11, k _p13, k _p21and k _p23.

To develop simultaneously embodiment below in conjunction with accompanying drawing, describe the present invention.

The present embodiment makes embodiment with a kind of wave piercing catamaran with attached body, and its front topworks adopts inverted T shape hydrofoil, and rear execution architecture adopts stern spray strip.Command signal required for execution architecture is carried out calculating by governing equation according to current motion state and is obtained.Control system is by pitch angular θ, the angular velocity in pitch of wave piercing catamaran hull under the state of sensor collection course hang down and swing displacement h, hang down and swing speed as input, the deviate that calculating input value and control signal require, carries out computing through controller, obtains the real-time angle of attack of fin before under respective conditions _fangle of attack real-time with stern spray strip _t, output order completes corresponding actions to topworks, realizes wave piercing catamaran pitching and reducing or eliminating of hanging down and swing.The Controlling model of controller adopts formula (1).

On this basis, the scale factor k during the present embodiment establishes for using controller feedback gain matrix K _p11, k _p13, k _p21and k _p23carry out the fuzzy controller of on-line tuning.Pitch angular θ, the angular velocity in pitch of wave piercing catamaran hull under the course state that is input as of fuzzy controller hang down and swing displacement h, hang down and swing speed the deviation of these four signals and respective instruction, these four signals (θ, h, ) can all be obtained by sensor, also can only obtain pitch angular θ and hang down and swing displacement h, then obtain angular velocity in pitch by differential calculation speed is swung with hanging down scale factor k after fuzzy controller utilizes the fuzzy rule preset to produce on-line tuning _p11, k _p13, k _p21and k _p23, pass to controller, adopt the scale factor adjusted to produce controlled quentity controlled variable by controller, realize the gesture stability of wave piercing catamaran.

Below in conjunction with the flow process of adjusting shown in Fig. 1, the realization of adjusting is described in detail.

Step 1, by actual acquisition to wave piercing catamaran hull, obtain pitch angular, angular velocity in pitch, hang down to swinging displacement and hang down and swing speed, these four signals compare the corresponding deviation of rear acquisition to Setting signal, then adopt corresponding deviation gain K1 ~ K4 to carry out specification handles respectively, the codomain scope of deviation and the domain of fuzzy variable are coincide.

Step 2, employing triangular membership and 7 sections of fuzzy subsets carry out obfuscation to the deviation after specification handles, obtain deviation fuzzy value.

A certain things a is to a certain degree to belong to set A, and such degree that belongs to is called " degree of membership ".The Linguistic Value of four deviations is all taken as by this example, and { just little PS, center PM, honest PB}, an accurate signal by such one group of subordinate function obfuscation, can become blurred signal for negative large NB, NM in negative, negative little NS, zero ZO.For simple meter, with hanging down to swinging, identical fuzzy language value is selected to pitching here.

Fuzzy language value is described by subordinate function, adopts triangular membership in this example.The shape of this subordinate function and distribution, by three Parametric Representations, are described as:

$\mathrm{\&mu;}\left(x\right)=\left\{\begin{array}{cc}(x-a)/(b-a)& a<x<b\\ (x-c)/(b-c)& b<x<c\end{array}\right.---\left(2\right)$

Fig. 2 is the triangular membership used in this example, and wherein seven fuzzy subsets are respectively { negative large, in negative, negative little, zero, just little, center, honest }.Because the shape of triangle degree of membership is only relevant with the slope of straight line, therefore be suitable for the Adaptive Fuzzy Control of degree of membership on-line tuning.

Step 3, carry out fuzzy reasoning.

The fuzzy reasoning table that four the deviation fuzzy values adopting step 2 to obtain substitute into setting carries out fuzzy reasoning, the fuzzy value of adjusted rear scale factor.

Each ratio factor pair to be adjusted of the present invention answers a fuzzy reasoning table, and each fuzzy reasoning table all adopts deviation and deviation variation rate as input.Such as, swing displacement for hanging down, its deviation is hung down exactly and is swung deviation, and its deviation variation rate hangs down exactly and swings velocity deviation.Therefore, the present invention has four fuzzy reasoning tables, and pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the first fuzzy reasoning table (table 1) _p13fuzzy value; Pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the second fuzzy reasoning table (table 2) _p23fuzzy value; Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 3rd fuzzy reasoning table (table 3) _p11fuzzy value; Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 4th fuzzy reasoning table (table 4) _p21fuzzy value.Corresponding fuzzy reasoning table is as follows:

Table 1

The using method of this table is, the fuzzy reasoning that front hydrofoil pitching scale factor regulates is characterized as: if the deviation delta θ of pitch angular θ " negative large ", and angular velocity in pitch deviation " negative large ", then output-scale-factor k _p13fuzzy value " honest ", be expressed as with fuzzy rule statement: If (e is NB) and (ed is NB) then (u is PB).

Table 2

The using method of this table is, the fuzzy reasoning that stern spray strip pitching scale factor regulates is characterized as: if the deviation delta θ of pitch angular θ " negative large ", and angular velocity in pitch deviation " negative large ", then output-scale-factor k _p23fuzzy value " honest ", be expressed as with fuzzy rule statement: If (e is NB) and (ed is NB) then (u is PB).

Table 3

Table 4

The using method of table 3, table 4 is, front hydrofoil, stern spray strip hang down and swing the fuzzy reasoning that scale factor regulates and be characterized as: if the deviation delta θ of pitch angular θ " negative large ", and angular velocity in pitch deviation " negative large ", then output-scale-factor k _p11/ k _p21fuzzy value " honest ", be expressed as with fuzzy rule statement: If (e is NB) and (ed is NB) then (u is PB).

If topworks's angle is just upwards, when hydrofoil positive-angle and spray strip positive-angle, the rotating torque of production is contrary, but for heaving, front and back topworks need produce contrary moment, therefore front hydrofoil and stern spray strip hang down, the adjustment of swinging scale factor can adopt similar fuzzy rule.

The basic foundation that aforementioned rule is formulated is that simulation hand control experience builds preliminary fuzzy reasoning table, then ship model experiment is utilized to carry out contrast test to the indeterminate in preliminary fuzzy reasoning table, good by experiment sieving control effects, to have good extrapolation engineering fuzzy reasoning table, as shown in aforementioned.The hand control initial experience of foundation is as follows: 1) when deviation ratio is larger, and for eliminating deviation as early as possible, improve response speed, scale factor takes large values, and differential divisor gets zero; When deviation ratio is less, be continue to reduce deviation, and prevent overshoot excessive, produce vibration, stability degenerates, scale factor value will reduce, and differential divisor gets the small value; When deviation is very little, for eliminating static difference, overcomes overshoot, system is stablized as early as possible, scale factor value continues to reduce, and differential divisor value continues to reduce, and differential divisor value is constant or get large a little.2) when deviation and deviation variation rate jack per line, controlled volume is towards departing from the change of definite value direction.When controlled volume is close to definite value, the proportional action of negative sign hinders integral action, avoids integration overshoot and thing followed vibration, is conducive to controlling; And when being far from each definite value when controlled volume and changing to definite value, then because these two reverse, will slow down control procedure.When deviation ratio is larger, when deviation variation rate and deviation contrary sign, scale factor value gets zero or negative value, to accelerate the dynamic process controlled.3) size of deviation variation rate shows the speed of change of error, and deviation variation rate is larger, and scale factor value is little, and differential divisor value is larger, and vice versa.Meanwhile, to consider in conjunction with deviation size.Adopt obfuscation symbol to be described to aforementioned experience, preliminary fuzzy reasoning table can be obtained.

For adjustment fuzzy rule, the ship model of total length 3.92m has carried control system principle prototype, has utilized artificial pond to make ripple towing trial, carried out 39 states, cover real ship typical condition under the regular wave of wave spectrum major part and random wave stabilization trial.Main experimental project is as follows:

1) fixed-wing and the automatic control wing state basin test of following 5 groups of wave height and wavelength is carried out:

Sequence number	Wave height (mm)	Wavelength (mm)
			1	50	5
2	50	4
			3	50	6
4	50	8
			5	75	5

2) different sea situation random wave test

A. the fixed-wing state basin test under 20 corresponding 3 grades, 4 grades, 5 grades sea situations of sub-wave simulation is used.

B. the automatic control wing state basin test under 20 corresponding 3 grades, 4 grades, 5 grades sea situations of sub-wave simulation is used.

Step 4, ambiguity solution.

The fuzzy value ambiguity solution of scale factor after the adjustment that step 3 is obtained, such as adopt gravity model appoach, scale factor ambiguity solution value after the adjustment that acquisition fuzzy rule inference obtains, and adopt output gain Ku1 ~ Ku4 to process regulating the ambiguity solution value of rear scale factor, make to regulate the end value of rear scale factor to meet its codomain scope.So far four scale factor k after adjustment are just obtained _p11, k _p13, k _p21and k _p23, then carry it into controller, calculate the angle of attack of forward and backward topworks, export steering order by controller, topworks performs control action, completes subtracting of wave piercing catamaran and shakes automatic control.

In order to realize said method, present invention also offers a kind of wave piercing catamaran control system, it comprises on-line tuning unit and control module.

Control module realizes identical with existing, and it receives input parameter x=(x ₁x ₂x ₃x ₄), x ₁displacement is swung, x for hanging down ₂speed is swung, x for hanging down ₃for pitch angular, x ₄for angular velocity in pitch; After the Controlling model u=-Kx that substitution formula (1) illustrates, export control vector $u=\left[\begin{array}{c}{\mathrm{\&alpha;}}_f\\ {\mathrm{\&alpha;}}_a\end{array}\right]$ Be applied to front topworks and rear topworks, α _ffor the front topworks angle of attack, α _afor the rear topworks angle of attack.Wherein, feedback gain matrix $K=\left[\begin{array}{cccc}{k}_{p11}& k_{p12}& k_{p13}& k_{p14}\\ k_{p21}& k_{p22}& k_{p23}& k_{p24}\end{array}\right].$

On-line tuning unit, for according to wave piercing catamaran pitch angular, angular velocity in pitch, hang down and swing displacement, hang down and swing the deviation of these four signals of speed and respective Setting signal, adopt the scale factor k after the fuzzy rule generation on-line tuning preset in fuzzy controller _p11, k _p13, k _p21and k _p23, send to control module.

As shown in Figure 3, on-line tuning unit specifically comprises: the first gain transformations module, obfuscation module, fuzzy reasoning module, ambiguity solution module and the second gain transformations module.

First gain transformations module, for to wave piercing catamaran pitch angular, angular velocity in pitch, hang down and swing displacement and the deviation of swinging these four signals of speed of hanging down adopts corresponding deviation gain K1 ~ K4 to carry out specification handles respectively, make the codomain scope of deviation identical with the domain of fuzzy variable.

Obfuscation module, for adopting triangular membership and 7 sections of fuzzy subsets to carry out obfuscation to the deviation after specification handles, obtains deviation fuzzy value.

Fuzzy reasoning module, the deviation fuzzy value obtained for adopting obfuscation module substitutes into the fuzzy reasoning table of setting, the fuzzy value of adjusted rear scale factor.Wherein, pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the first fuzzy reasoning table _p13fuzzy value; Pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the second fuzzy reasoning table _p23fuzzy value; Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 3rd fuzzy reasoning table _p11fuzzy value; Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 4th fuzzy reasoning table _p21fuzzy value.

Ambiguity solution module, for the fuzzy value ambiguity solution of scale factor after the adjustment that obtains fuzzy reasoning module.

Second gain transformations module, after the adjustment produced ambiguity solution module for adopting output gain Ku, the ambiguity solution value of scale factor processes, and makes to regulate the end value of rear scale factor to meet its codomain scope.

In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (5)

1. an on-line tuning method for wave piercing catamaran control system controling parameters, described wave piercing catamaran control system adopts the Controlling model of u=-Kx; X=(x ₁x ₂x ₃x ₄) be controller input parameter, x ₁displacement is swung, x for hanging down ₂speed is swung, x for hanging down ₃for pitch angular, x ₄for angular velocity in pitch; Control vector is $u=\left[\begin{array}{c}{\mathrm{\&alpha;}}_f\\ {\mathrm{\&alpha;}}_a\end{array}\right],$ α _ffor the front topworks angle of attack, α _afor the rear topworks angle of attack; Feedback gain matrix $K=\left[\begin{array}{cccc}{k}_{p11}& k_{p12}& k_{p13}& k_{p14}\\ k_{p21}& k_{p22}& k_{p23}& k_{p24}\end{array}\right],$ K _p11hang down for front topworks and swing the scale factor of dynamic respond adjustment, k _p12hang down for front topworks and swing the scale factor of speed responsive adjustment, k _p13for the scale factor of front topworks pitch angular response regulation, k _p14for the scale factor of front topworks angular velocity in pitch response regulation, k _p21hang down for rear topworks and swing the scale factor of dynamic respond adjustment, k _p22hang down for rear topworks and swing the scale factor of speed responsive adjustment, k _p23for the scale factor of rear topworks pitch angular response regulation; k _p24for the scale factor of rear topworks angular velocity in pitch response regulation; It is characterized in that,

In wave piercing catamaran control system operational process, real time contrast's example factor k _p11, k _p13, k _p21and k _p23carry out on-line tuning, adopt the scale factor k after adjusting _p11, k _p13, k _p21and k _p23produce controlled quentity controlled variable, realize the gesture stability of wave piercing catamaran;

Described setting mode is: by the actual acquisition of wave piercing catamaran hull and process, obtain the pitch angular in wave piercing catamaran motion process, angular velocity in pitch, hang down to swinging displacement and hang down and swing the deviation of these four signals of speed and respective Setting signal, and input fuzzy controller, the scale factor k after fuzzy controller utilizes the fuzzy rule preset to produce on-line tuning _p11, k _p13, k _p21and k _p23.

2. the method for claim 1, is characterized in that, described in adjust and specifically comprise the steps:

Step 1, by actual acquisition to wave piercing catamaran hull, obtain pitch angular, angular velocity in pitch, hang down to swinging displacement and hang down and swing speed, these four signals compare the corresponding deviation of rear acquisition to Setting signal, then adopt corresponding deviation gain K1 ~ K4 to carry out specification handles respectively, the codomain scope of deviation and the domain of fuzzy variable are coincide;

Step 2, employing triangular membership and 7 sections of fuzzy subsets carry out obfuscation to the deviation after specification handles, obtain deviation fuzzy value;

Step 3, the fuzzy reasoning table adopting deviation fuzzy value to substitute into setting carry out fuzzy reasoning, the fuzzy value of adjusted rear scale factor; Wherein,

Pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the first fuzzy reasoning table _p13fuzzy value;

Pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the second fuzzy reasoning table _p23fuzzy value;

Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 3rd fuzzy reasoning table _p11fuzzy value;

Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 4th fuzzy reasoning table _p21fuzzy value;

The fuzzy value ambiguity solution of scale factor after step 4, adjustment that step 3 is obtained, and adopt output gain Ku1 ~ Ku4 to process the ambiguity solution value of scale factor after regulating, make to regulate the end value of rear scale factor to meet its codomain scope.

3. method as claimed in claim 2, it is characterized in that, the first fuzzy reasoning table is:

Second fuzzy reasoning table, the 3rd fuzzy reasoning table and the 4th fuzzy reasoning table are:

Wherein, NB, NM, NS, ZO, PS, PM, PB represent respectively successively negative large, negative in, negative little, zero, just little, center, honest.

4. a wave piercing catamaran control system, is characterized in that, comprising: on-line tuning unit and control module;

Described control module, receives input parameter x=(x ₁x ₂x ₃x ₄), x ₁displacement is swung, x for hanging down ₂speed is swung, x for hanging down ₃for pitch angular, x ₄for angular velocity in pitch; After substituting into Controlling model u=-Kx, export control vector $u=\left[\begin{array}{c}{\mathrm{\&alpha;}}_f\\ {\mathrm{\&alpha;}}_a\end{array}\right]$ Be applied to front topworks and rear topworks, α _ffor the front topworks angle of attack, α _afor the rear topworks angle of attack;

Wherein, feedback gain matrix $K=\left[\begin{array}{cccc}{k}_{p11}& k_{p12}& k_{p13}& k_{p14}\\ k_{p21}& k_{p22}& k_{p23}& k_{p24}\end{array}\right],$ K _p11hang down for front topworks and swing the scale factor of dynamic respond adjustment, k _p12hang down for front topworks and swing the scale factor of speed responsive adjustment, k _p13for the scale factor of front topworks pitch angular response regulation, k _p14for the scale factor of front topworks angular velocity in pitch response regulation, k _p21hang down for rear topworks and swing the scale factor of dynamic respond adjustment, k _p22hang down for rear topworks and swing the scale factor of speed responsive adjustment, k _p23for the scale factor of rear topworks pitch angular response regulation; k _p24for the scale factor of rear topworks angular velocity in pitch response regulation; Wherein, scale factor k _p11, k _p13, k _p21and k _p23by on-line tuning unit on-line tuning;

Described on-line tuning unit, according to wave piercing catamaran pitch angular, angular velocity in pitch, hang down and swing displacement, vertical deviation of swinging these four signals of speed and respective Setting signal, the scale factor k after adopting the fuzzy rule preset in fuzzy controller to produce on-line tuning _p11, k _p13, k _p21and k _p23, send to control module.

5. system as claimed in claim 4, it is characterized in that, described on-line tuning unit specifically comprises: the first gain transformations module, obfuscation module, fuzzy reasoning module, ambiguity solution module and the second gain transformations module;

First gain transformations module, for to wave piercing catamaran pitch angular, angular velocity in pitch, hang down and swing displacement and the deviation of swinging these four signals of speed of hanging down adopts corresponding deviation gain K1 ~ K4 to carry out specification handles respectively, make the codomain scope of deviation identical with the domain of fuzzy variable;

Obfuscation module, for adopting triangular membership and 7 sections of fuzzy subsets to carry out obfuscation to the deviation after specification handles, obtains deviation fuzzy value;

Fuzzy reasoning module, for the fuzzy reasoning table adopting described deviation fuzzy value to substitute into setting, the fuzzy value of adjusted rear scale factor; Wherein, pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the first fuzzy reasoning table _p13fuzzy value; Pitch angular deviation fuzzy value and angular velocity in pitch deviation fuzzy value substitute into the adjusted rear scale factor k of the second fuzzy reasoning table _p23fuzzy value; Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 3rd fuzzy reasoning table _p11fuzzy value; Hang down to swinging offset deviation fuzzy value and hang down and swing the adjusted rear scale factor k of velocity deviation fuzzy value substitution the 4th fuzzy reasoning table _p21fuzzy value;

Ambiguity solution module, for the fuzzy value ambiguity solution of scale factor after the adjustment that obtains fuzzy reasoning module;

Second gain transformations module, after the adjustment produced ambiguity solution module for adopting output gain Ku, the ambiguity solution value of scale factor processes, and makes to regulate the end value of rear scale factor to meet its codomain scope.