CN105966566A - Hydrofoil catamaran course transverse inclination control method and device - Google Patents

Abstract

The invention provides a hydrofoil catamaran course transverse inclination control method and device. The hydrofoil catamaran course transverse inclination control method comprises the steps that a hydrofoil catamaran course transverse inclination dynamics model with a hydrofoil servo system dynamic characteristic is obtained according to a hydrofoil catamaran dynamic characteristic parameter, a servo system dynamic characteristic parameter, external disturbance and servo system disturbance; the estimated value of the external disturbance and the estimated value of the servo system disturbance are obtained according to the hydrofoil catamaran course transverse inclination dynamics model; and the voltage control amount for controlling a hydrofoil servo driver is output according to the hydrofoil catamaran course transverse inclination dynamics model, the estimated value of the external disturbance and the estimated value of the servo system disturbance. According to the hydrofoil catamaran course transverse inclination control method and device provided by the invention, the control precision and anti-disturbance capacity of a hydrofoil servo system are improved, and the effect that better force/force torque, a flap angle and an empennage angle can be calculated and used for stabilizing a yawing angle and a rolling angle is ensured.

Description

Hydrofoil catamaran course heel control method and device

Technical field

Present invention relates particularly to a kind of hydrofoil catamaran course heel tracking and controlling method and device.

Background technology

Hydrofoil catamaran is the compound high property of a kind of novel concept integrating high-speed catamaran and hydrofoil advantage Can ship.Hull is held out the lift of the water surface, so hydrofoil overcomes wave making resistance and frictional resistance pair owing to hydrofoil provides The restriction of speed of the ship in metres per second, reducing the wave impact to hull, relatively displacement type ship has good airworthiness.But due to hull quilt The lift lifting of hydrofoil goes out the water surface, therefore during high speed operation, the interference from stormy waves stream is lacked self-stability and robust Property.Acutely oscillating motion, can produce, on navigation performance, the impact can not ignore, directly influence its airworthiness；Cause provisioned Equipment produce fault, the goods that injured vessel is loaded, What is more can jeopardize the navigation safety of boats and ships and crewman.Well Course keeping ability can improve operation benefits, strengthen the safety of hydrofoil catamaran, reduce system failure incidence rate.Therefore water The orientation tracking motor control of wing catamaran is extremely important.

Research to hydrofoil catamaran course heel tracing control at present only rests on the aspect of dynamic analysis.Existing Control method mostly is and calculates the power/moment needed for calm yaw angle and roll angle and flap tail by feedback form such as feedback of status Cautiously angle, and the dynamic characteristic of hydrofoil servosystem is not considered.Substantially, hydrofoil servosystem navigates as hydrofoil catamaran To the fast time variant inner ring road of heel tracking control system, can the quality of its control method perfect following calculation go out for flap empennage Instruction wing angle most important.

Summary of the invention

For defect of the prior art, the hydrofoil catamaran course heel control method of present invention offer and device, lead to Cross the dynamic characteristic adding hydrofoil servosystem in the heel tracking and controlling method of existing hydrofoil catamaran course, improve water The control accuracy of wing servosystem and capacity of resisting disturbance, it is ensured that can calculate more excellent power/moment and flap empennage wing angle, use In calm yaw angle and roll angle.

First aspect, the hydrofoil catamaran course heel controlling party method that the present invention provides, including: according to hydrofoil catamaran Dynamic characteristic parameter, dynamic characteristics of servo system parameter, external interference and servosystem interference, obtain with hydrofoil servosystem The hydrofoil catamaran course heel kinetic model of dynamic characteristic；According to described hydrofoil catamaran course heel kinetic model, Obtain estimated value and the estimated value of servosystem interference of external interference；According to described hydrofoil catamaran course heel kinetic simulation Type, the estimated value of described external interference and the estimated value of described servosystem interference, output is used for controlling hydrofoil servo-driver Voltage control quantity.

The hydrofoil catamaran course heel control method that the embodiment of the present invention provides, by navigating at existing hydrofoil catamaran In heel tracking and controlling method add hydrofoil servosystem dynamic characteristic, improve hydrofoil servosystem control accuracy and Capacity of resisting disturbance, it is ensured that more excellent power/moment and flap empennage wing angle can be calculated, be used for calm yaw angle and roll angle.

Preferably, described according to hydrofoil catamaran course heel kinetic model, it is calculated the estimated value of external interference The estimated value disturbed with servosystem, including: according to hydrofoil catamaran course heel kinetic model and external interference, pass through water Wing catamaran model uncertainty and sea wave disturbance estimator, obtain the estimated value of external interference；According to hydrofoil catamaran course Heel kinetic model and servosystem interference, by hydrofoil servosystem interference estimator, obtain estimating of servosystem interference Evaluation.

Preferably, described according to described hydrofoil catamaran course heel kinetic model, the estimated value of described external interference The estimated value disturbed with described servosystem, output is used for controlling the voltage control quantity of hydrofoil servo-driver, including: according to institute State hydrofoil catamaran course heel kinetic model, the estimated value of described external interference and the estimation of described servosystem interference Value, utilizes back stepping control device, and output is for controlling the voltage control quantity of hydrofoil servo-driver.

Preferably, the described back stepping control device that utilizes, output, for controlling the voltage control quantity of hydrofoil servo-driver, is wrapped Including: utilize the back stepping control device with second-order low-pass filter, output is for controlling the voltage control quantity of hydrofoil servo-driver； Each step of the refutation process of described back stepping control device can produce virtual controlling rule, and described second-order low-pass filter is used for producing institute Stating the differential of virtual controlling rate, the differential of described virtual controlling rate is for refutation process next time.

Preferably, described hydrofoil catamaran dynamic characteristic parameter includes: angle of revolution speed r, Angle of Heel speed p, Angle of Heel Speed of a ship or plane u under φ, course angle ψ, hydrofoil catamaran high speed foil-borne₀；

Described dynamic characteristics of servo system parameter includes: post wing rudder rudder angle δ_R, flap empennage wing angle δ_A, servosystem voltage letter Number input matrix u_V；

The described hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system is

${\stackrel{\·}{x}}_1=x_2$

${\stackrel{\·}{x}}_2=F_1(u_0,x_2)+{\stackrel{\‾}{B}}_1\left(x_2\right)u_{\mathrm{\δ}}+d_1$

${\stackrel{\·}{x}}_3=x_4$

${\stackrel{\·}{x}}_4=F_2(u_0,x_4)+{\stackrel{\‾}{B}}_2\left(x_4\right)u_V+d_2$

Wherein, x₁=[φ ψ]^T, x₂=[p r]^T, u_δ=[δ_R δ_A]^T, x₃=[δ_R δ_A]^T,d₁For outward Boundary disturbs, d₂Disturb for servosystem, F₁(u₀,x₂) it is hydrofoil catamaran hydrodynamic parameter matrix, F₂(u₀,x₄) it is servosystem Described function matrix,For hydrofoil catamaran course heel circuit controls matrix,For servosystem circuit controls square Battle array；

Described hydrofoil catamaran model uncertainty and sea wave disturbance estimator have a following form:

${\hat{d}}_1=p_{11}+l_{11}{x}_2$

${\stackrel{\·}{p}}_{11}=-l_{11}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)+{\widehat{\stackrel{\·}{d}}}_1$

${\widehat{\stackrel{\·}{d}}}_1=p_{12}+l_{12}{x}_2$

${\stackrel{\·}{p}}_{12}=-l_{12}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)$

Wherein,D is disturbed for servosystem₁Estimated value, l₁₁、l₁₂、p₁₁And p₁₂For hydrofoil catamaran model uncertainty Related gain with sea wave disturbance estimator；

Described hydrofoil servosystem interference estimator has a following form:

${\hat{d}}_2=p_{21}+l_{21}{x}_3$

${\stackrel{\·}{p}}_{21}=-l_{21}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)+{\widehat{\stackrel{\·}{d}}}_2$

${\widehat{\stackrel{\·}{d}}}_2=p_{22}+l_{22}{x}_3$

${\stackrel{\·}{p}}_{22}=-l_{22}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)$

Wherein,For external interference d₂Estimated value, l₂₁、l₂₂、p₂₁、p₂₂Phase for hydrofoil servosystem interference estimator Close gain；

Described hydrofoil catamaran model uncertainty and sea wave disturbance estimator and described hydrofoil servosystem Interference Estimation The constraints of device isI=1,2, j=0,1,2.

Second aspect, the hydrofoil catamaran course heel control method device that the present invention provides, including: mould set up by model Block, for dry according to hydrofoil catamaran dynamic characteristic parameter, dynamic characteristics of servo system parameter, external interference and servosystem Disturb, obtain the hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system；Analytical calculation module, uses According to described hydrofoil catamaran course heel kinetic model, obtain the estimated value of external interference and estimating of servosystem interference Evaluation；Controlled quentity controlled variable computing module, for according to described hydrofoil catamaran course heel kinetic model, the estimating of described external interference Evaluation and the estimated value of described servosystem interference, output is for controlling the voltage control quantity of hydrofoil servo-driver.

The hydrofoil catamaran course heel control method that the embodiment of the present invention provides, by navigating at existing hydrofoil catamaran In heel tracking and controlling method add hydrofoil servosystem dynamic characteristic, improve hydrofoil servosystem control accuracy and Capacity of resisting disturbance, it is ensured that more excellent power/moment and flap empennage wing angle can be calculated, be used for calm yaw angle and roll angle.

Preferably, described analytical calculation module, specifically for: according to hydrofoil catamaran course heel kinetic model with outer Boundary disturbs, and by hydrofoil catamaran model uncertainty and sea wave disturbance estimator, obtains the estimated value of external interference；According to water Wing catamaran course heel kinetic model and servosystem interference, by hydrofoil servosystem interference estimator, obtain servo The estimated value of system interference.

Preferably, described controlled quentity controlled variable computing module, specifically for according to described hydrofoil catamaran course heel kinetic simulation Type, the estimated value of described external interference and the estimated value of described servosystem interference, utilize back stepping control device, output to be used for controlling The voltage control quantity of hydrofoil servo-driver.

Preferably, the described back stepping control device that utilizes, output, for controlling the voltage control quantity of hydrofoil servo-driver, is wrapped Including: utilize the back stepping control device with second-order low-pass filter, output is for controlling the voltage control quantity of hydrofoil servo-driver； Each step of the refutation process of described back stepping control device can produce virtual controlling rule, and described second-order low-pass filter is used for producing institute Stating the differential of virtual controlling rate, the differential of described virtual controlling rate is for refutation process next time.

Preferably, described hydrofoil catamaran dynamic characteristic parameter includes: angle of revolution speed r, Angle of Heel speed p, Angle of Heel Speed of a ship or plane u under φ, course angle ψ, hydrofoil catamaran high speed foil-borne₀；

Described dynamic characteristics of servo system parameter includes: post wing rudder rudder angle δ_R, flap empennage wing angle δ_A, servosystem voltage letter Number input matrix u_V；

The described hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system is

${\stackrel{\·}{x}}_1=x_2$

${\stackrel{\·}{x}}_2=F_1(u_0,x_2)+{\stackrel{\‾}{B}}_1\left(x_2\right)u_{\mathrm{\δ}}+d_1$

${\stackrel{\·}{x}}_3=x_4$

${\stackrel{\·}{x}}_4=F_2(u_0,x_4)+{\stackrel{\‾}{B}}_2\left(x_4\right)u_V+d_2$

Wherein, x₁=[φ ψ]^T, x₂=[p r]^T, u_δ=[δ_R δ_A]^T, x₃=[δ_R δ_A]^T,d₁For outward Boundary disturbs, d₂Disturb for servosystem, F₁(u₀,x₂) it is hydrofoil catamaran hydrodynamic parameter matrix, F₂(u₀,x₄) it is servosystem Described function matrix,For hydrofoil catamaran course heel circuit controls matrix,For servosystem circuit controls square Battle array；

Described hydrofoil catamaran model uncertainty and sea wave disturbance estimator have a following form:

${\hat{d}}_1=p_{11}+l_{11}{x}_2$

${\stackrel{\·}{p}}_{11}=-l_{11}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)+{\widehat{\stackrel{\·}{d}}}_1$

${\widehat{\stackrel{\·}{d}}}_1=p_{12}+l_{12}{x}_2$

${\stackrel{\·}{p}}_{12}=-l_{12}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)$

Wherein,D is disturbed for servosystem₁Estimated value, l₁₁、l₁₂、p₁₁And p₁₂For hydrofoil catamaran model uncertainty Related gain with sea wave disturbance estimator；

Described hydrofoil servosystem interference estimator has a following form:

${\hat{d}}_2=p_{21}+l_{21}{x}_3$

${\stackrel{\·}{p}}_{21}=-l_{21}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)+{\widehat{\stackrel{\·}{d}}}_2$

${\widehat{\stackrel{\·}{d}}}_2=p_{22}+l_{22}{x}_3$

${\stackrel{\·}{p}}_{22}=-l_{22}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)$

Wherein,For external interference d₂Estimated value, l₂₁、l₂₂、p₂₁、p₂₂Phase for hydrofoil servosystem interference estimator Close gain；

Described hydrofoil catamaran model uncertainty and sea wave disturbance estimator and described hydrofoil servosystem Interference Estimation The constraints of device isI=1,2, j=0,1,2.

Accompanying drawing explanation

Fig. 1 shows the flow chart of a kind of hydrofoil catamaran course heel control method that the embodiment of the present invention provided；

Fig. 2 shows the flow chart of a kind of hydrofoil catamaran course heel control method that the embodiment of the present invention provided；

Fig. 3 shows that a kind of hydrofoil catamaran course heel that the embodiment of the present invention is provided controls the structural frames of device Figure；

Fig. 4 is hydrofoil catamaran angle of revolution speed and angle of revolution simulation curve；

Fig. 5 is hydrofoil catamaran Angle of Heel speed and Angle of Heel simulation curve.

Detailed description of the invention

Below in conjunction with accompanying drawing, the embodiment of technical solution of the present invention is described in detail.Following example are only used for Technical scheme is clearly described, is therefore intended only as example, and the protection of the present invention can not be limited with this Scope.

It should be noted that except as otherwise noted, technical term used in this application or scientific terminology should be this The ordinary meaning that bright one of ordinary skill in the art are understood.

In order to improve hydrofoil catamaran course heel control accuracy and capacity of resisting disturbance, embodiments provide hydrofoil Catamaran course heel control method, detailed description of the invention is as it is shown in figure 1, include:

Step S101, according to hydrofoil catamaran dynamic characteristic parameter, dynamic characteristics of servo system parameter, external interference with watch Dress system disturbs, and obtains the hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system.

Step S102, according to described hydrofoil catamaran course heel kinetic model, obtain external interference estimated value and The estimated value of servosystem interference.

Step S103, according to described hydrofoil catamaran course heel kinetic model, the estimated value of described external interference and The estimated value of described servosystem interference, output is for controlling the voltage control quantity of hydrofoil servo-driver.

The method that the embodiment of the present invention provides, by adding in the heel tracking and controlling method of existing hydrofoil catamaran course Enter the dynamic characteristic of hydrofoil servosystem, improve control accuracy and the capacity of resisting disturbance of hydrofoil servosystem, it is ensured that can Calculate more excellent power/moment and flap empennage wing angle, be used for calm yaw angle and roll angle.It addition, by the boat of hydrofoil catamaran Implementing to servosystem aspect to heel gesture stability, controlled quentity controlled variable is directly servosystem motor driven voltage signal, for water The engineering design of wing catamaran has more realistic meaning.

Wherein, hydrofoil catamaran dynamic characteristic parameter includes: angle of revolution speed r, Angle of Heel speed p, Angle of Heel φ, course Speed of a ship or plane u under angle ψ, hydrofoil catamaran high speed foil-borne₀。

Wherein, described dynamic characteristics of servo system parameter includes: post wing rudder rudder angle δ_R, flap empennage wing angle δ_A, servosystem electricity Pressure signal input matrix u_V。

Hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system is

${\stackrel{\·}{x}}_1=x_2$

${\stackrel{\·}{x}}_2=F_1(u_0,x_2)+{\stackrel{\‾}{B}}_1\left(x_2\right)u_{\mathrm{\δ}}+d_1$

${\stackrel{\·}{x}}_3=x_4$

${\stackrel{\·}{x}}_4=F_2(u_0,x_4)+{\stackrel{\‾}{B}}_2\left(x_4\right)u_V+d_2$

Wherein, x₁=[φ ψ]^T, x₂=[p r]^T, u_δ=[δ_R δ_A]^T, d₁The external world being subject to for hydrofoil catamaran model does Disturb perturbed force and disturbance torque that hull and hydrofoil system are caused by such as wave, Caulis Piperis Kadsurae and ocean current.d₂For servosystem is deposited Transmission interference, friction and external environment act on the power on wing flap and the post wing and moment.u₀For hydrofoil catamaran at a high speed The speed of a ship or plane under foil-borne, usually one fixing velocity amplitude.F₁(u₀,x₂) it is hydrofoil catamaran hydrodynamic parameter matrix, F₂ (u₀,x₄) it is servosystem described function matrix,For hydrofoil catamaran course heel circuit controls matrix,For watching Dress system circuit controls matrix.

Step S102 specifically includes: according to hydrofoil catamaran course heel kinetic model and external interference, pass through hydrofoil Catamaran model uncertainty and sea wave disturbance estimator, obtain the estimated value of external interference；Horizontal according to hydrofoil catamaran course Fascinate mechanical model and servosystem interference, by hydrofoil servosystem interference estimator, obtain the estimation of servosystem interference Value.

Hydrofoil catamaran model uncertainty and sea wave disturbance estimator have a following form:

${\hat{d}}_1=p_{11}+l_{11}{x}_2$

${\stackrel{\·}{p}}_{11}=-l_{11}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+\hat{d})+{\widehat{\stackrel{\·}{d}}}_1$

${\widehat{\stackrel{\·}{d}}}_1=p_{12}+l_{12}{x}_2$

${\stackrel{\·}{p}}_{12}=-l_{12}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)$

Wherein,D is disturbed for servosystem₁Estimated value, l₁₁、l₁₂、p₁₁And p₁₂For hydrofoil catamaran model uncertainty Related gain with sea wave disturbance estimator.

Hydrofoil servosystem interference estimator has a following form:

${\hat{d}}_2=p_{21}+l_{21}{x}_3$

${\stackrel{\·}{p}}_{21}=-l_{21}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)+{\widehat{\stackrel{\·}{d}}}_2$

${\widehat{\stackrel{\·}{d}}}_2=p_{22}+l_{22}{x}_3$

${\stackrel{\·}{p}}_{22}=-l_{22}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)$

Wherein,For external interference d₂Estimated value；

Hydrofoil catamaran model uncertainty and sea wave disturbance estimator and the constraint of hydrofoil servosystem interference estimator Condition isI=1,2, j=0,1,2,The upper bound for the maximum of relevant norm, i.e. norm.Traditional interference is estimated Gauge requires that interference bounded and derivative are 0 to the limit of time, and the interference estimator in the embodiment of the present invention only requires interference And the norm-bounded of derivative, therefore relax the constraints disturbed to external world, there is higher practicality.

Step S103 specifically includes: according to hydrofoil catamaran course heel kinetic model, the estimated value of external interference and The estimated value of servosystem interference, utilizes back stepping control device, and output is for controlling the voltage control quantity of hydrofoil servo-driver.

As in figure 2 it is shown, extend interference unit in figure, the detailed description of the invention of above-mentioned steps includes that hydrofoil catamaran model is the most true Qualitative with sea wave disturbance estimator and hydrofoil servosystem interference estimator.

In order to add the line solver speed of back stepping control device, the embodiment of the present invention adds inside back stepping control device Second-order low-pass filter, its principle is for the virtual controlling rule produced in each step of refutation process, utilizes step low-pass to filter Ripple device produces the differential of virtual controlling rule.Utilize the back stepping control device with second-order low-pass filter, solve tradition inverting control Make the differential expansion issues produced owing to control system exponent number increases, utilize second-order low-pass filter solving virtual control law Differential, adds the line solver speed of back stepping control device.The method specifically comprises the following steps that

Step one: according to hydrofoil catamaran course heel kinetic model, the tracking error obtaining closed loop system is e₁= x₁-x_1d；According to tracking error, obtaining virtual controlling amount isWherein, k₁For arithmetic number, x_1dFor instruction attitude Angle information matrix.

Utilize second-order low-pass filter, obtain β₁Estimated value and β₁The estimated value of first derivative, wherein, step low-pass is filtered Ripple device is

${\stackrel{\·}{\mathrm{\β}}}_{1,1}^c={\mathrm{\ω}}_1{\mathrm{\β}}_{1,2}^c$

${\stackrel{\·}{\mathrm{\β}}}_{1,2}^c=-2{\mathrm{\ζ}}_1{\mathrm{\ω}}_1{\mathrm{\β}}_{1,2}^c-{\mathrm{\ω}}_1^2({\mathrm{\β}}_{1,1}^c-{\mathrm{\β}}_1)$

Wherein, the initial value of described second-order low-pass filter is set tot₀At the beginning of system Begin the moment,For β₁Estimated value,For β₁The estimated value of first derivative, ζ₁For wave filter damping ratio, ω₁Natural for wave filter Frequency.

Design compensation tracking error system is

v₁=e₁-ξ₁

${\stackrel{\·}{\mathrm{\ξ}}}_1=-k_1{\mathrm{\ξ}}_1+({\mathrm{\β}}_{1,1}^c-{\mathrm{\β}}_1)+{\mathrm{\ξ}}_2$

Wherein, ξ₁Initial value be ξ₁(t₀)=0, ξ₂Be defined in step 2 and be given.

Step 2: according to hydrofoil catamaran course heel kinetic model, obtain the tracking error of closed loop systemAnd then obtain virtual controlling amount and be

${\mathrm{\β}}_2={\stackrel{\‾}{B}}_1^{-1}\[-k_2{e}_2+{\mathrm{\β}}_{1,2}^c-F_1(u_0,x_2)-v_1-{\hat{d}}_1\],$

Wherein, k₂For arithmetic number.

By second-order low-pass filter, calculate β₂Estimated value and β₂The estimated value of first derivative, wherein, step low-pass is filtered Ripple device is

${\stackrel{\·}{\mathrm{\β}}}_{2,1}^c={\mathrm{\ω}}_2{\mathrm{\β}}_{2,2}^c$

${\stackrel{\·}{\mathrm{\β}}}_{2,2}^c=-2{\mathrm{\ξ}}_2{\mathrm{\ω}}_2{\mathrm{\β}}_{2,2}^c-{\mathrm{\ω}}_2^2({\mathrm{\β}}_{2,1}^c-{\mathrm{\β}}_2)$

Wherein, the initial value of described second-order low-pass filter is set tot₀For system Initial time,For β₂Estimated value,For β₂The estimated value of first derivative, ζ₂For wave filter damping ratio, ω₂For wave filter Natural frequency.

Design tracking error compensates system

v₂=e₂-ξ₂

${\stackrel{\·}{\mathrm{\ξ}}}_2=-k_2{\mathrm{\ξ}}_2+{\stackrel{\‾}{B}}_1({\mathrm{\β}}_{2,1}^c-{\mathrm{\β}}_2)+{\stackrel{\‾}{B}}_1{\mathrm{\ξ}}_3$

Wherein, ξ₂Initial value be ξ₂(t₀)=0, ξ₃Be defined in step 3 and be given.

Step 3: the tracking error of definition system isDesign virtual controlling amount is Wherein, k₃For arithmetic number.

By second-order low-pass filter, obtain β₃Estimated value and β₃The estimated value of first derivative, wherein, step low-pass is filtered Ripple device is

${\stackrel{\·}{\mathrm{\β}}}_{3,1}^c={\mathrm{\ω}}_3{\mathrm{\β}}_{3,2}^c$

${\stackrel{\·}{\mathrm{\β}}}_{3,2}^c=-2{\mathrm{\ξ}}_3{\mathrm{\ω}}_3{\mathrm{\β}}_{3,2}^c-{\mathrm{\ω}}_3^2({\mathrm{\β}}_{3,1}^c-{\mathrm{\β}}_3)$

Wherein, the initial value of described second-order low-pass filter is set tot₀At the beginning of system Begin the moment,For β₃Estimated value,For β₃Estimated value ζ of first derivative₃For wave filter damping ratio, ω₃Natural for wave filter Frequency.

Definition tracking error compensates system

v₃=e₃-ξ₃

${\stackrel{\·}{\mathrm{\ξ}}}_3=-k_3{\mathrm{\ξ}}_3+({\mathrm{\β}}_{3,1}^c-{\mathrm{\β}}_3)$

Wherein, ξ₃Initial value be ξ₃(t₀)=0.

Step 4: the tracking error of definition system is:Obtaining final controlled quentity controlled variable is

$u_V={\stackrel{\‾}{B}}_2^{-1}\[-k_4{e}_4+{\mathrm{\β}}_{3,2}^c-F_2(x_3,x_4)-v_3-{\hat{d}}_2\]$

Wherein, k₄For arithmetic number, β₄For controlling the voltage control quantity of hydrofoil servo-driver, it is servosystem voltage letter Number input matrix u_V。

Based on the design identical with above-mentioned hydrofoil catamaran course heel control method, the embodiment of the present invention additionally provides one Planting hydrofoil catamaran course heel and control device, its structure is as it is shown on figure 3, include: model building module 101, for according to water Wing catamaran dynamic characteristic parameter, dynamic characteristics of servo system parameter, external interference and servosystem interference, obtain with hydrofoil The hydrofoil catamaran course heel kinetic model of dynamic characteristics of servo system；Analytical calculation module 102, for double according to hydrofoil Body ship course heel kinetic model, obtains estimated value and the estimated value of servosystem interference of external interference；Controlled quentity controlled variable calculates Module 103, for according to the interference of hydrofoil catamaran course heel kinetic model, the estimated value of external interference and servosystem Estimated value, output is for controlling the voltage control quantity of hydrofoil servo-driver.

The method that the embodiment of the present invention provides, by adding in the heel tracking and controlling method of existing hydrofoil catamaran course Enter the dynamic characteristic of hydrofoil servosystem, improve control accuracy and the capacity of resisting disturbance of hydrofoil servosystem, it is ensured that can Calculate more excellent power/moment and flap empennage wing angle, be used for calm yaw angle and roll angle.It addition, by the boat of hydrofoil catamaran Implementing to servosystem aspect to heel gesture stability, controlled quentity controlled variable is directly servosystem motor driven voltage signal, for water The engineering design of wing catamaran has more realistic meaning.

Wherein, analytical calculation module 102 specifically for: do according to hydrofoil catamaran course heel kinetic model and the external world Disturb, by hydrofoil catamaran model uncertainty and sea wave disturbance estimator, obtain the estimated value of external interference；Double according to hydrofoil Body ship course heel kinetic model and servosystem interference, by hydrofoil servosystem interference estimator, obtain servosystem The estimated value of interference.

Wherein, controlled quentity controlled variable computing module 103 is specifically for according to described hydrofoil catamaran course heel kinetic model, institute State estimated value and the estimated value of described servosystem interference of external interference, utilize back stepping control device, output to be used for controlling hydrofoil The voltage control quantity of servo-driver.

Wherein, controlled quentity controlled variable computing module 103 is specifically additionally operable to utilize the back stepping control device with second-order low-pass filter, defeated Go out the voltage control quantity for controlling hydrofoil servo-driver；Each step of the refutation process of back stepping control device can produce virtual control System rule, second-order low-pass filter is for producing the differential of virtual controlling rate, and the differential of virtual controlling rate is used for inverting next time Journey.Utilize the back stepping control device with second-order low-pass filter, solve tradition back stepping control due to the increase of control system exponent number And the differential expansion issues produced, utilize the differential of second-order low-pass filter solving virtual control law, add back stepping control device Line solver speed.Its specific implementation is referred to above-described embodiment, repeats no more in place of repetition.

Wherein, hydrofoil catamaran dynamic characteristic parameter includes: angle of revolution speed r, Angle of Heel speed p, Angle of Heel φ, course Speed of a ship or plane u under angle ψ, hydrofoil catamaran high speed foil-borne₀。

Wherein, described dynamic characteristics of servo system parameter includes: post wing rudder rudder angle δ_R, flap empennage wing angle δ_A, servosystem electricity Pressure signal input matrix u_V。

Wherein, the hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system is

${\stackrel{\·}{x}}_1=x_2$

${\stackrel{\·}{x}}_2=F_1(u_0,x_2)+{\stackrel{\‾}{B}}_1\left(x_2\right)u_{\mathrm{\δ}}+d_1$

${\stackrel{\·}{x}}_3=x_4$

${\stackrel{\·}{x}}_4=F_2(u_0,x_4)+{\stackrel{\‾}{B}}_2\left(x_4\right)u_V+d_2$

Wherein, x₁=[φ ψ]^T, x₂=[p r]^T, u_δ=[δ_R δ_A]^T, d₁The external world being subject to for hydrofoil catamaran model does Disturb perturbed force and disturbance torque that hull and hydrofoil system are caused by such as wave, Caulis Piperis Kadsurae and ocean current.d₂For servosystem is deposited Transmission interference, friction and external environment act on the power on wing flap and the post wing and moment.u₀For hydrofoil catamaran at a high speed The speed of a ship or plane under foil-borne, usually one fixing velocity amplitude；F₁(u₀,x₂) it is hydrofoil catamaran hydrodynamic parameter matrix, F₂ (u₀,x₄) it is servosystem described function matrix,For hydrofoil catamaran course heel circuit controls matrix,For watching Dress system circuit controls matrix.

Wherein, hydrofoil catamaran model uncertainty and sea wave disturbance estimator have a following form:

${\hat{d}}_1=p_{11}+l_{11}{x}_2$

${\stackrel{\·}{p}}_{11}=-l_{11}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)+{\widehat{\stackrel{\·}{d}}}_1$

${\widehat{\stackrel{\·}{d}}}_1=p_{12}+l_{12}{x}_2$

${\stackrel{\·}{p}}_{12}=-l_{12}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)\hat{d}$

Wherein,D is disturbed for servosystem₁Estimated value, l₁₁、l₁₂、p₁₁And p₁₂For hydrofoil catamaran model uncertainty Related gain with sea wave disturbance estimator.

Wherein, hydrofoil servosystem interference estimator has a following form:

${\hat{d}}_2=p_{21}+l_{21}{x}_3$

${\stackrel{\·}{p}}_{21}=-l_{21}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)+{\widehat{\stackrel{\·}{d}}}_2$

${\widehat{\stackrel{\·}{d}}}_2=p_{22}+l_{22}{x}_3$

${\stackrel{\·}{p}}_{22}=-l_{22}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)$

Wherein,For external interference d₂Estimated value, l₂₁、l₂₂、p₂₁、p₂₂Phase for hydrofoil servosystem interference estimator Close gain.

Wherein, hydrofoil catamaran model uncertainty and sea wave disturbance estimator and described hydrofoil servosystem Interference Estimation The constraints of device isI=1,2, j=0,1,2,For the maximum of relevant norm, i.e. the norm upper bound.Traditional Interference estimator requires that interference bounded and derivative are 0 to the limit of time, and if interference estimator in the embodiment of the present invention Ask interference and the norm-bounded of derivative thereof, therefore relax the constraints disturbed to external world, there is higher practicality.

The method providing the embodiment of the present invention carries out simulation analysis, Fig. 4 and Fig. 5 is partial simulation result.Fig. 4 is hydrofoil Catamaran angle of revolution speed and angle of revolution simulation curve, can test boats and ships due to revolution experiment and move for quick course change Adaptability, therefore have employed angle of revolution and angle of revolution speed to describe simulation result, it can with course angle and course angle speed To be equal to sign.Fig. 5 is hydrofoil catamaran Angle of Heel speed and Angle of Heel simulation curve.By Fig. 4, Fig. 5 it can be seen that the present invention The method that embodiment provides, can realize orientation tracking, and course change is rapid, by controlling the servo system of flap empennage and the post wing System input voltage signal can realize, and during permanent revolution, ship's heeling angle is expectation angle of heel.The embodiment of the present invention is utilized to provide Method, hydrofoil catamaran can be realized and run along desired course angle and Angle of Heel, thus realize combining of mobility and safety Close optimum.

The device that the embodiment of the present invention provides, by adding in the heel tracking and controlling method of existing hydrofoil catamaran course Enter the dynamic characteristic of hydrofoil servosystem, improve control accuracy and the capacity of resisting disturbance of hydrofoil servosystem, it is ensured that can Calculate more excellent power/moment and flap empennage wing angle, be used for calm yaw angle and roll angle.

Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology The scope of scheme, it all should be contained in the middle of the claim of the present invention and the scope of description.

Claims (10)

1. a hydrofoil catamaran course heel control method, it is characterised in that including:

Disturb according to hydrofoil catamaran dynamic characteristic parameter, dynamic characteristics of servo system parameter, external interference and servosystem, To the hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system；

According to described hydrofoil catamaran course heel kinetic model, obtain the estimated value of external interference and servosystem interference Estimated value；

Dry according to described hydrofoil catamaran course heel kinetic model, the estimated value of described external interference and described servosystem The estimated value disturbed, output is for controlling the voltage control quantity of hydrofoil servo-driver.

Method the most according to claim 1, it is characterised in that described according to hydrofoil catamaran course heel kinetic simulation Type, is calculated estimated value and the estimated value of servosystem interference of external interference, including:

According to hydrofoil catamaran course heel kinetic model and external interference, by hydrofoil catamaran model uncertainty and sea Wave interference estimator, obtains the estimated value of external interference；

Disturb, by hydrofoil servosystem Interference Estimation according to hydrofoil catamaran course heel kinetic model and servosystem Device, obtains the estimated value of servosystem interference.

Method the most according to claim 2, it is characterised in that described according to described hydrofoil catamaran course heel kinetics Model, the estimated value of described external interference and the estimated value of described servosystem interference, output is used for controlling hydrofoil servo-drive The voltage control quantity of device, including: according to described hydrofoil catamaran course heel kinetic model, the estimated value of described external interference The estimated value disturbed with described servosystem, utilizes back stepping control device, and output is for controlling the voltage control of hydrofoil servo-driver Amount processed.

Method the most according to claim 3, it is characterised in that the described back stepping control device that utilizes, output is used for controlling hydrofoil The voltage control quantity of servo-driver, including: utilize the back stepping control device with second-order low-pass filter, output to be used for controlling water The voltage control quantity of wing servo-driver；Each step of the refutation process of described back stepping control device can produce virtual controlling rule, institute Stating second-order low-pass filter for producing the differential of described virtual controlling rate, the differential of described virtual controlling rate is for the most anti- Drill process.

Method the most according to any one of claim 1 to 4, it is characterised in that

Described hydrofoil catamaran dynamic characteristic parameter includes: angle of revolution speed r, Angle of Heel speed p, Angle of Heel φ, course angle ψ, Speed of a ship or plane u under hydrofoil catamaran high speed foil-borne₀；

Described dynamic characteristics of servo system parameter includes: post wing rudder rudder angle δ_R, flap empennage wing angle δ_A, servosystem voltage signal defeated Enter matrix u_V；

The described hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system is

${\stackrel{\·}{x}}_1=x_2$

${\stackrel{\·}{x}}_2=F_1(u_0,x_2)+{\stackrel{\‾}{B}}_1\left(x_2\right)u_{\mathrm{\δ}}+d_1$

${\stackrel{\·}{x}}_3=x_4$

${\stackrel{\·}{x}}_4=F_2(u_0,x_4)+{\stackrel{\‾}{B}}_2\left(x_4\right)u_V+d_2$

Wherein, x₁=[φ ψ]^T, x₂=[p r]^T, u_δ=[δ_R δ_A]^T, x₃=[δ_R δ_A]^T,d₁Do for the external world Disturb, d₂Disturb for servosystem, F₁(u₀,x₂) it is hydrofoil catamaran hydrodynamic parameter matrix, F₂(u₀,x₄) it is that servosystem describes Jacobian matrix,For hydrofoil catamaran course heel circuit controls matrix,For servosystem circuit controls matrix；

Described hydrofoil catamaran model uncertainty and sea wave disturbance estimator have a following form:

${\hat{d}}_1=p_{11}+l_{11}{x}_2$

${\stackrel{\·}{p}}_{11}=-l_{11}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)+{\widehat{\stackrel{\·}{d}}}_1$

${\widehat{\stackrel{\·}{d}}}_1=p_{12}+l_{12}{x}_2$

${\stackrel{\·}{p}}_{12}=-l_{12}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)$

Wherein,D is disturbed for servosystem₁Estimated value, l₁₁、l₁₂、p₁₁And p₁₂For hydrofoil catamaran model uncertainty and sea The related gain of wave interference estimator；

Described hydrofoil servosystem interference estimator has a following form:

${\hat{d}}_2=p_{21}+l_{21}{x}_3$

${\stackrel{\·}{p}}_{21}=-l_{21}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)+{\widehat{\stackrel{\·}{d}}}_2$

${\widehat{\stackrel{\·}{d}}}_2=p_{22}+l_{22}{x}_3$

${\stackrel{\·}{p}}_{22}=-l_{22}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)$

Wherein,For external interference d₂Estimated value, l₂₁、l₂₂、p₂₁、p₂₂Relevant increasing for hydrofoil servosystem interference estimator Benefit；

Described hydrofoil catamaran model uncertainty and sea wave disturbance estimator and described hydrofoil servosystem interference estimator Constraints isI=1,2, j=0,1,2.

6. a hydrofoil catamaran course heel controls device, it is characterised in that including:

Model building module, for according to hydrofoil catamaran dynamic characteristic parameter, dynamic characteristics of servo system parameter, external interference Disturb with servosystem, obtain the hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system；

Analytical calculation module, for according to described hydrofoil catamaran course heel kinetic model, obtains the estimation of external interference Value and the estimated value of servosystem interference；

Controlled quentity controlled variable computing module, for according to described hydrofoil catamaran course heel kinetic model, the estimating of described external interference Evaluation and the estimated value of described servosystem interference, output is for controlling the voltage control quantity of hydrofoil servo-driver.

Device the most according to claim 6, it is characterised in that described analytical calculation module, specifically for:

According to hydrofoil catamaran course heel kinetic model and external interference, by hydrofoil catamaran model uncertainty and sea Wave interference estimator, obtains the estimated value of external interference；

Disturb, by hydrofoil servosystem Interference Estimation according to hydrofoil catamaran course heel kinetic model and servosystem Device, obtains the estimated value of servosystem interference.

Device the most according to claim 7, it is characterised in that described controlled quentity controlled variable computing module, specifically for according to described Hydrofoil catamaran course heel kinetic model, the estimated value of described external interference and the estimated value of described servosystem interference, Utilizing back stepping control device, output is for controlling the voltage control quantity of hydrofoil servo-driver.

Device the most according to claim 8, it is characterised in that the described back stepping control device that utilizes, output is used for controlling hydrofoil The voltage control quantity of servo-driver, including: utilize the back stepping control device with second-order low-pass filter, output to be used for controlling water The voltage control quantity of wing servo-driver；Each step of the refutation process of described back stepping control device can produce virtual controlling rule, institute Stating second-order low-pass filter for producing the differential of described virtual controlling rate, the differential of described virtual controlling rate is for the most anti- Drill process.

10. according to the device according to any one of claim 6 to 9, it is characterised in that

Described hydrofoil catamaran dynamic characteristic parameter includes: angle of revolution speed r, Angle of Heel speed p, Angle of Heel φ, course angle ψ, Speed of a ship or plane u under hydrofoil catamaran high speed foil-borne₀；

Described dynamic characteristics of servo system parameter includes: post wing rudder rudder angle δ_R, flap empennage wing angle δ_A, servosystem voltage signal defeated Enter matrix u_V；

The described hydrofoil catamaran course heel kinetic model with hydrofoil dynamic characteristics of servo system is

${\stackrel{\·}{x}}_1=x_2$

${\stackrel{\·}{x}}_2=F_1(u_0,x_2)+\stackrel{\‾}{B_1}\left(x_2\right)u_{\mathrm{\δ}}+d_1$

${\stackrel{\·}{x}}_3=x_4$

${\stackrel{\·}{x}}_4=F_2(u_0,x_4)+{\stackrel{\‾}{B}}_2\left(x_4\right)u_V+d_2$

Wherein, x₁=[φ ψ]^T, x₂=[p r]^T, u_δ=[δ_R δ_A]^T, x₃=[δ_R δ_A]^T,d₁Do for the external world Disturb, d₂Disturb for servosystem, F₁(u₀,x₂) it is hydrofoil catamaran hydrodynamic parameter matrix, F₂(u₀,x₄) it is that servosystem describes Jacobian matrix,For hydrofoil catamaran course heel circuit controls matrix,For servosystem circuit controls matrix；

Described hydrofoil catamaran model uncertainty and sea wave disturbance estimator have a following form:

${\hat{d}}_1=p_{11}+l_{11}{x}_2$

${\stackrel{\·}{p}}_{11}=-l_{11}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)+{\widehat{\stackrel{\·}{d}}}_1$

${\widehat{\stackrel{\·}{d}}}_1=p_{12}+l_{12}{x}_2$

${\stackrel{\·}{p}}_{12}=-l_{12}\left(F_1\right(u_0,x_2)+{\stackrel{\‾}{B}}_1(x_2)u_{\mathrm{\δ}}+{\hat{d}}_1)$

Wherein,D is disturbed for servosystem₁Estimated value, l₁₁、l₁₂、p₁₁And p₁₂For hydrofoil catamaran model uncertainty and sea The related gain of wave interference estimator；

Described hydrofoil servosystem interference estimator has a following form:

${\hat{d}}_2=p_{21}+l_{21}{x}_3$

${\stackrel{\·}{p}}_{21}=-l_{21}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)+{\widehat{\stackrel{\·}{d}}}_2$

${\widehat{\stackrel{\·}{d}}}_2=p_{22}+l_{22}{x}_3$

${\stackrel{\·}{p}}_{22}=-l_{22}\left(F_2\right(u_0,x_4)+{\stackrel{\‾}{B}}_2(x_4)u_V+{\hat{d}}_2)$

Wherein,For external interference d₂Estimated value, l₂₁、l₂₂、p₂₁、p₂₂Relevant increasing for hydrofoil servosystem interference estimator Benefit；

Described hydrofoil catamaran model uncertainty and sea wave disturbance estimator and described hydrofoil servosystem interference estimator Constraints isI=1,2, j=0,1,2.