CN104670432A - Variable parameter comprehensive stabilizing controller based on energy optimization - Google Patents

Abstract

Disclosed is a variable parameter comprehensive stabilizing controller based on energy optimization. The variable parameter comprehensive stabilizing controller based on the energy optimization not only is low in energy consumption, but also can achieve good shake reduction ability. The variable parameter comprehensive stabilizing controller based on the energy optimization includes: firstly, analyzing a ship and shake reduction fin system mathematical model and a ship-passive shake reduction water cabin system mathematical model to build a stabilizing fin-passive stabilizing water cabin comprehensive stabilizing system mathematical model; secondly, analyzing interaction of a stabilizing fin and a passive stabilizing water cabin; furthermore, building a secondary performance index, using a genetic algorithm to optimize parameters, and designing a variable parameter PID (proportion integration differentiation) controller based on the energy optimization; finally, simulating concrete experiment ship control, and comparing the concrete experiment ship control with traditional PID control.

Description

A kind of variable element integrated value method controller based on energetic optimum

Technical field

What the present invention relates to is a kind of ship stabilization controller, particularly be a kind of variable element integrated value method controller.

Background technology

Boats and ships ride the sea be subject to sea wind, wave, ocean current interference can produce rolling, Shou Oscillating, hang down and the motion of six-freedom degree such as to swing, wherein rolling motion is the most violent.Serious rolling motion can make the equipment cisco unity malfunction on ship, soaks in deck, and crewman's Working Life is uncomfortable; For warship, affect artillery system and aim at, soldier's efficiency on duty reduces, and carrier-borne aircraft can not rise and fall safely.In order to effectively reduce ship rolling, people have invented various antirolling apparatus, comparatively conventionally after interim consideration cost and reliability have stabilizer, passive anti-rolling tank, subtract and shake rudder, bilge keel.When designing, should by reach expection stabilizing efficiency and can not affect too much premised on ship rolling motion characteristic, mainly consider the sea condition in a certain scope when designing antirolling apparatus simultaneously, and not according to the severe sea condition design seldom run into, this mainly considers the exercise performance of cost and boats and ships.Bilge keel because structure is simple, less expensive and have good stabilizing efficiency and adopted in a large number.The stabilizer profile camera wing, according to fluid mechanics, the seawater of flowing fast can produce lift power on fin, produces moment and resists the interference of wave to boats and ships.The stabilizing efficiency of stabilizer is positively correlated with ship speed, and the larger stabilizing efficiency of the speed of a ship or plane is more obvious, and the highest subtracting shakes than reaching 9 one-tenth, but subtracts when the low speed of a ship or plane or zero power test and shake not obvious, and this is also the weak point of stabilizer.Passive anti-rolling tank designs according to resonance principle, and during motion of ship, in cabin, flow of liquid can produce the interference that moment offsets wave.Design good passive anti-rolling tank to subtract under the various speed of a ship or plane and shake, particularly can there is certain stabilizing efficiency under the low speed of a ship or plane and zero power test, the weak point of stabilizer can be made up, but passive anti-rolling tank also has the limitation of oneself, not only can not subtract in some cases and shake but also can rolling be aggravated.

The advantage that integrated value method system has both stabilizer and passive anti-rolling tank can be covered the shortage again simultaneously mutually, boats and ships can be made under the various speed of a ship or plane and sea condition to have gratifying stabilizing efficiency through good control.After boats and ships install stabilizer and passive anti-rolling tank simultaneously, the two works simultaneously, subtracts the simple addition that the ability of shaking is not for both.Stabilizer has can folding and unfolding and non-retractable two kinds, and deployable and collapsible structure is more complicated, and cost is high, does not widely apply.And stabilizer is not knocked when considering navigation, the size of stabilizer just has certain restriction.Design the natural frequency work that good passive anti-rolling tank only relies on self, need not additional control additionally, do not consume electric energy.Stabilizer is that a kind of active subtracts the equipment of shaking, and has special control circuit and equipment, and the stabilizer of rotation can produce the antagonism moment adapted with the sea wave disturbance moment constantly changed, and work will consume electric energy.Stabilizer subtract the face area that the ability of shaking is proportional to fin.Boats and ships at sea navigate by water for a long time, and raw material supply is more difficult, and therefore energy-saving consumption-reducing must be considered, can pass through design VARIABLE PARAMETER PID CONTROL device, reach existing and subtract the target that the ability of shaking has again the little advantage that consumes energy preferably.

Summary of the invention

The object of this invention is to provide is a kind of application and ship stabilization, can energy consumption is low can reach again the variable element integrated value method controller based on energetic optimum better subtracting the ability of shaking.

The object of the present invention is achieved like this:

First, analysis boats and ships-fin stabilizing system math modeling and boats and ships-passive anti-rolling tank system mathematic model set up stabilizer-passive anti-rolling tank integrated value method system mathematic model.

Secondly, influencing each other of stabilizer and passive anti-rolling tank is analyzed.

Moreover, set up quadratic performance index, adopt genetic algorithm to parameter optimization, design the PID CONTROLLER WITH VARIABLE ARGUMENTS based on energetic optimum.

Finally, to specific experiment ship control imitation and and traditional PID control contrast.

The present invention also comprises:

Shake fin-passive anti-rolling tank integrated value method system mathematic model:

Wherein,

${{\mathrm{\ω}}_t}^2=\frac{g}{{\mathrm{\λ}}_t};\frac{2\mathrm{\ρg}{S}_{0}R}{(I_1+J_t)}={\mathrm{\α}}_t;\frac{\mathrm{\ρ}{S}_0{b}^2}{(I_1+J_t)}=\mathrm{\β}$

The principle of work of 2 water tanks is known, and it subtracts the ability of shaking and is determined by ship rolling frequency and roll angle.According to the passive anti-rolling tank differential equation, in cabin, both sides, the height change of liquid is determined by the roll angle of boats and ships, and the larger rangeability of roll angle is larger.Known stabilizer is when active, the interference of wave disturbance moment can be resisted by rotating certain angle generation moment, the rolling of boats and ships will be reduced like this, can have an impact to the water level of liquid in water tank and the roll frequency of boats and ships, and its roll frequency is a definite value after the setting of antirolling tank parameters, difference between both ship and water tank roll frequency becomes large, will reduce the stabilizing efficiency of passive water tank.The stabilizing efficiency of known fin and ship speed positive correlation, when the speed of a ship or plane is more and more higher, the stabilizing efficiency of fin is also become better and better, but the stabilizing efficiency of passive water tank but reduces because the speed of a ship or plane becomes large, and therefore the stabilizing efficiency of integrated value method system is not the simple addition of fin and water tank.When antirolling apparatus do not equipped by boats and ships, ship rolling natural frequency is after only equipping stabilizer, ship rolling frequency becomes therefore equipping fin can make ship rolling frequency become large, due to A be proportional to the speed of a ship or plane square, therefore the speed of a ship or plane is larger, and A is larger, and natural rolling frequency is larger.Boats and ships only after passive water tank roll frequency be due to although therefore can change the rolling motion frequency of boats and ships during stabilizer work, thus the stabilizing efficiency water tank self affecting passive type water tank also can affect ship rolling motion frequency due to the vibration of liquid, can offset the adverse effect of a part of stabilizer.

The performance figure of 3 systems:

$J=\frac{1}{T}{\∫}_0^T\{\frac{1}{2\mathrm{\π}}{\∫}_0^{\∞}{\left|\mathrm{\Φ}\left(\mathrm{j\ω}\right)\right|}^2{S}_{\mathrm{aw}}({\mathrm{\ω}}_{e)}d{\mathrm{\ω}}_e+{\mathrm{\λ}}_1{[\exp {(-{{\mathrm{\θ}}_m}^2/2{\left[{\mathrm{\σ}}_{\mathrm{\θ}}\right]}^2)}^2-13.5\%]}^2\mathrm{dt}+{\mathrm{\λ}}_2\frac{I{\∫}_0^{\∞}{S}_{\mathrm{\θ}}\left({\mathrm{\ω}}_e\right)d{\mathrm{\ω}}_e}{\mathrm{\η}}\}\mathrm{dT}$

Advantage of the present invention comprises:

The controling parameters of the controller of 1 the present invention's design can change along with the change of the speed of a ship or plane and sea situation, ensures that boats and ships can effectively subtract in all cases and to shake and energy-optimised.

2 consider remaining roll angle variance, fin angle saturation factor and fin consumed energy in control design case of the present invention, form performance figure, make control best results time most effective.

Accompanying drawing explanation

Fig. 1 is integrated value method controller architecture block diagram;

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in detail:

Composition graphs 1, Fig. 1 is the structured flowchart of integrated value method controller.

The each link definition of integrated value method system:

The experience slope of wave surface of boats and ships and wave: a _w

Ship rolling angle:

Stabilizer fin angle:

The equivalent slope of wave surface converted to by stabilizer fin angle: a _f

Converted to the convesion factor of slope of wave surface: K by stabilizer fin angle _a

Ship-cabin system passes letter:

Gyro passes letter:

Preposition amplifier passes letter: $W_Q\left(s\right)=\frac{U_Q\left(s\right)}{U_{\mathrm{TC}}\left(s\right)}$

PID passes letter: $W_X\left(s\right)=\frac{U_{\mathrm{XC}}\left(s\right)}{U_Q\left(s\right)}$

Fin follow-up system passes letter:

System can be obtained by the differential equation (2-31) of boats and ships-passive anti-rolling tank and pass letter:

Boats and ships-water tank system specifically passes letter:

The angular velocity gyro equation of motion:

$J_T\mathrm{\Ω}\frac{\mathrm{d\φ}}{\mathrm{dt}}=J_Q\frac{d^2{\mathrm{\β}}_T}{d{t}^2}+d\frac{d{\mathrm{\β}}_T}{\mathrm{dt}}+C{\mathrm{\β}}_T---\left(3\right)$

Wherein: J _q, J _tit is motor angular velocity

Ω is around framework and gyro motor rotor inertia around the shaft

β _tit is the corner of framework

C is the stiffness coefficient of framework

D is damping coefficient

K _tCit is the proportionality coefficient of synchro

Known U _tC=K _tCβ _t, U _tCit is angular velocity sensor output voltage.

The angular velocity gyro parameter of this selected theses is:

J _TΩ=1.274N·m·s；J _Q=5.88×10 ^-4N·m·s ²；C=37.14N·m/rad；d≈0。

Gyro passes letter:

$W_T\left(s\right)=\frac{0.1s}{0.00025s^2+0.02s+1}---\left(4\right)$

PID controller passes letter:

Known control system adopts antagonism control principle, and so controller meets:

During stabilizer work, there is integrator drift problem in PID controller integral element long-time integration, generally can replace with inertial element:

$W_I\left(s\right)=\frac{25}{25s+1}---\left(6\right)$

Derivative element is very easily subject to high-frequency signal interference, can replace with indirect derivative element:

$W_D\left(s\right)=\frac{0.0637s}{(0.0637s+1)(0.0127s+1)}---\left(7\right)$

To sum up can obtain PID controller and pass letter:

$W_C\left(s\right)=\frac{25K_I}{25s+1}+\frac{0.0637s{K}_D}{(0.0637s+1)(0.0127s+1)}+K_D---\left(8\right)$

Stabilizer follow-up system is approximate is reduced to second-order system:

$W_s\left(s\right)=\frac{2.86}{0.0044s^2+0.066s+1}---\left(9\right)$

Claims (4)

1. based on a variable element integrated value method controller for energetic optimum, its composition comprises: angular velocity sensor, controller, speed of a ship or plane adjustment module, unrestrained level adjustment module, follow-up system, wherein each component part connects successively.

2. a kind of variable element integrated value method controller based on energetic optimum according to claim 1, it is characterized in that, according to boats and ships-fin stabilizing system math modeling and boats and ships-passive anti-rolling tank system mathematic model, setting up stabilizer-passive anti-rolling tank integrated value method system mathematic model.

3. a kind of variable element integrated value method controller based on energetic optimum according to claim 1, is characterized in that analyzing influencing each other of stabilizer and passive anti-rolling tank.

4. a kind of variable element integrated value method controller based on energetic optimum according to claim 1, is characterized in that setting up quadratic performance index, adopts genetic algorithm to parameter optimization, designs the PID CONTROLLER WITH VARIABLE ARGUMENTS based on energetic optimum.