CN106353070B - A kind of wave maker motion control method and system - Google Patents
A kind of wave maker motion control method and system Download PDFInfo
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- CN106353070B CN106353070B CN201610873152.1A CN201610873152A CN106353070B CN 106353070 B CN106353070 B CN 106353070B CN 201610873152 A CN201610873152 A CN 201610873152A CN 106353070 B CN106353070 B CN 106353070B
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M10/00—Hydrodynamic testing; Arrangements in or on ship-testing tanks or water tunnels
Abstract
The present invention relates to wave simulation field, in particular to a kind of wave maker motion control method and system.The forward wave waveform and target waveform produced are compared by control method of the invention, to be adjusted to forward wave waveform, finally obtain the forward wave or oblique wave for meeting user demand, it is simple not only to make wave mode, but also make that wave velocity is fast, control precision is high；Corresponding control system is controlled using host computer and controller wave unit is made, not only cost performance is high, saves wiring, optimizes control structure and energy consumption, and communication is faster more stable and control precision is higher, meets the requirement for making wave control system to synchronism and real-time.
Description
Technical field
The present invention relates to wave simulation field, in particular to a kind of wave maker motion control method and system.
Background technique
The important means that ocean engineering experiment is had become by the random motion that wave maker system reappears ocean wave, makes wave
Machine worldwide also has become the basic equipment in ocean engineering laboratory.Wave maker mainly utilizes controllable device as far as possible
The true sea situation of simulation, for various Marine Sciences experiment reliable sea situation physical model is provided, to help exploitation to ocean engineering research
Personnel are to different marine structures, such as harbour, and harbour, naval vessel, the designs such as seaplane provide foundation, to guarantee projects
Economy, safety and reliability.Wave maker according to make wave mode be broadly divided into it is mechanical and two kinds of air-compression type, and it is mechanical
Wave maker includes swing, push-plate type and punching type again, wherein swing, because structure is simple, component inertia is small, light-weight, essence
Degree is high and is widely adopted.Wave maker mainly uses fluid pressure type or AC servo motor formula to be driven at present.Using hydraulic
Mode can drive relatively large load because the output torque of hydraulic device is big as the wave maker of driving, can under low speed situations
With operational excellence, but the case where hydraulic device is easy to produce oil leak, control precision can not only be had an impact, but also can pollute
Environment is unfavorable for safeguarding.And AC synchronous servo motor driving system is got over because response quickly, stabilization and control precision are high
It is applied in wave maker system come more.The wave maker control system of the AC servo machinery driving of the prior art, by upper
Machine, motion controller, servo-driver, AC synchronous permanent-magnet servo motor composition, host computer is usually with motion control function
PLC, digital control system or the SCM system of energy, but due to needing wave paddle quantity to be controlled up to 120~360,
It is even more, it is therefore desirable to real-time control to be synchronized to 120~360 servo motors, this control mode of the prior art is not
The wave height for being only difficult the waveform wave height and target waveform that meet synchronism, the requirement of real-time of wave making system, and produce also is deposited
In error, to influence the result of subsequent experimental.
Summary of the invention
The present invention provides a kind of wave maker motion control method and systems, solve the problems, such as techniques discussed above.
The technical scheme to solve the above technical problems is that a kind of wave maker motion control method, including it is following
Step:
Step 1, wave parameter is made in setting first；
Step 2, wave parameter is made according to first and preset wave algorithm of making generates the first CAM table；
Step 3, first CAM table is read, first CAM table is compiled according to preset electric cam algorithm
It translates, and the first virtual time main shaft is generated according to compiling result；
Step 4, the corresponding motor servo unit of every piece of wave paddle is controlled according to the first virtual time main shaft,
Generate actual forward wave；
Step 5, second is generated according to the waveform of the actual forward wave and target waveform and make wave parameter, and repeat step 2
~3, it generates second and makes the corresponding second virtual time main shaft of wave parameter；
Step 6, the first virtual time main shaft and the second virtual time main shaft are overlapped, when generation third is virtual
Between main shaft；
Step 7, the corresponding motor servo unit of every piece of wave paddle is controlled using the third virtual time main shaft,
Generate target waveform.
The beneficial effects of the present invention are: forward wave waveform and target waveform that control method of the invention will be produced for the first time
It is compared, to be adjusted to forward wave waveform, finally obtains the forward wave or oblique wave for meeting user demand, not only make
Wave mode is simple, and makes that wave velocity is fast, control precision is high.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the target waveform includes regular forward wave, irregular forward wave, regular oblique wave and irregular oblique wave.
Further, when the target waveform is regular forward wave or regular oblique wave, described first to make wave parameter include wave
Unrestrained period, wave height and wave number；When the target waveform is irregular forward wave or irregular oblique wave, described first makes wave parameter
Including making wave time interval, wave amplitude number, making wave time, target irregular wave curve, wave spectrum type, ariyoshi wave height, ariyoshi week
Phase and average period.
Beneficial effect using above-mentioned further scheme is: in this further technical solution, making wave ginseng by setting first
Number, available various types of waves meet and make wave demand in a variety of situations of user.
Further, when the target waveform is regular forward wave or irregular forward wave, described second makes wave parameter
To compensate wave height, the step 5 specifically: practical wave height and the target waveform for obtaining the current wave sequence of actual forward wave are corresponding
First difference is set as compensating wave height, or obtains preset time period by the first difference of the target wave height of wave sequence
Corresponding first difference of the interior each wave sequence of actual forward wave, and the average value of all first differences is calculated, it will be described
Average value is set as compensating wave height.
Beneficial effect using above-mentioned further scheme is: regular positive when needing to produce in this further technical solution
When wave or irregular forward wave, the wave height error of actual forward wave and target forward wave is set as second and makes wave parameter, from
And generate third virtual time main shaft and the wave height of actual forward wave is adjusted, it, can be in such a way that this closed loop adjusts
The forward wave produced is allowed to be more in line with target waveform.
Further, when the target waveform is regular oblique wave or irregular oblique wave, described second makes wave parameter as mesh
Mark the phase difference of the corresponding adjacent two pieces of wave paddles of tilt angle of waveform.
Beneficial effect using above-mentioned further scheme is: first when needing to produce oblique wave in this further technical solution
Forward wave is first produced, then adjusts the phase difference of adjacent two pieces of wave paddles so as to adjust the tilt angle of forward wave, to make just
Become the oblique wave for meeting target waveform to wave, makes wave mode and be simple and efficient.
In order to solve technical problem of the invention, additionally provides one kind and make wave motion control system, including host computer, control
Device and wave unit is made, the host computer includes:
Parameter setting unit makes wave parameter for setting first；
Parameter generating unit makes wave parameter for generating second according to the waveform and target waveform of actual forward wave；
CAM table generation unit, for according to first make wave parameter and it is preset make wave algorithm generate the first CAM table, with
And for according to second make wave parameter and it is preset make wave algorithm generate the second CAM table；
Virtual time main shaft generation unit, for reading first CAM table or the second CAM table, according to preset electricity
Sub- cam algorithm is compiled first CAM table or the second CAM table, and is generated according to the compiling result of the first CAM table
First virtual time main shaft generates the second virtual time main shaft according to the compiling result of the second CAM table；
Superpositing unit generates for the first virtual time main shaft and the second virtual time main shaft to be overlapped
Three virtual time main shafts；
The controller is used to generated according to the first virtual time main shaft for controlling the first control for making wave unit
Instruction, or generated according to the third virtual time main shaft for controlling the second control instruction for making wave unit；
It is described make wave unit for according to first control instruction to the corresponding motor servo unit of every piece of wave paddle into
Row control, generates actual forward wave, or according to second control instruction to the corresponding motor servo unit of every piece of wave paddle
It is controlled, generates target waveform.
The beneficial effects of the present invention are: technical solution of the present invention is controlled using host computer and controller to wave unit is made
System, not only cost performance is high, saves wiring, optimizes control structure and energy consumption, and communicates faster more stable and control precision more
Height meets the requirement for making wave control system to synchronism and real-time.
Further, the wave unit of making includes multiple servo-drivers and the servo connecting with each servo-driver electricity
Machine, each servo motor connect a wave paddle by electric cylinder；
The servo-driver is used to generate the positive fortune of servo motor according to the first control instruction or the second control instruction
Dynamic order or counter motion order；
The servo motor is used to be made just according to the forward motion order or counter motion order at corresponding time point
To movement or counter motion；
The electric cylinder be used for by the forward motion of servo motor or counter motion be converted to corresponding wave paddle forward direction or
Backward linear motion, to generate corresponding actual forward wave or target waveform.
Further, the host computer and controller are communicated using ADS mode；The controller and servo-driver are adopted
It is communicated with EtherCAT mode.
Beneficial effect using above-mentioned further scheme is: this is further in technical solution, host computer and makes wave unit and adopts
It is communicated with EtherCAT mode, communication speed is fast and network stabilization is high, diagnosis capability is strong.
Further, the parameter generating unit be specifically used for when the target waveform be regular forward wave or it is irregular just
When to wave, the practical wave height and target waveform that obtain the current wave sequence of actual forward wave correspond to the target wave height of wave sequence
First difference is set as second and makes wave parameter by the first difference, or to obtain actual forward wave in preset time period each
Corresponding first difference of wave sequence, and the average value of all first differences is calculated, the average value is set as second
Make wave parameter.
It further, further include detection unit, the detection unit is used to detect the reality of any wave sequence of actual forward wave
Border wave height.
Beneficial effect using above-mentioned further scheme is: this is further in technical solution, using real-time or global two
Kind mode carries out feedback adjustment to the waveform produced, so that the forward wave produced be allowed to be more in line with target waveform.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the wave maker motion control method of embodiment 1；
Fig. 2 is a kind of structural schematic diagram of the wave maker kinetic control system of embodiment 2.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figure 1, being a kind of flow diagram of the wave maker motion control method of embodiment 1, comprising the following steps:
Step 1, wave parameter is made in setting first.In the present invention, target waveform include regular forward wave, irregular forward wave,
Regular oblique wave and irregular oblique wave etc. make wave parameter according to different target waveform settings first.In the present embodiment, target waveform
For regular forward wave, first to make wave parameter include wave period, wave height and wave number, when wave period is a regular wave motion
Between, initial default 1000ms is incremented by, minimum value 1000ms, maximum value 10000ms with 0.1s (100ms), and unit is milli
Second (ms)；Wave height is the crest height of regular wave, and initial default is 0.5 meter (500mm), is incremented by with 0.001 meter (1mm), minimum
Value is 0mm, and maximum value 1000mm, unit is millimeter (mm)；Wave number is the quantity of regular wave, and initial default is 1, with 1
Be incremented by, minimum value be 1, maximum value be 100, wavelength is then automatically generated according to wave period, wave height and wave number, shake width and
Make the wave time.
In other embodiments, when the target waveform is regular oblique wave, described first to make wave parameter include wave week
Phase, wave height and wave number.When the target waveform is irregular forward wave or irregular oblique wave, described first, which makes wave parameter, includes
Make wave time interval, wave amplitude number, make the wave time, target irregular wave curve, wave spectrum type, ariyoshi wave height, the ariyoshi period and
Average period.Making wave time interval indicates time interval between previous data point and next data point, unit millisecond
(ms), it is defaulted as 40ms, is incremented by with 1ms, minimum value 1ms, maximum value 80ms；Wave amplitude number is defaulted as 1000, with most
Small value is incremented by for 1000, and minimum value is 1000, and maximum value is 10000；Making the wave time is irregular wave total time, and unit is
Second (s), it is defaulted as 40s, minimum value 1s, maximum value is 360s (6 minutes)；Target irregular wave curve is the song of default setting
1000 kinds of different irregular wave curves can be generated in line chart, the same wave spectrum, same configuration information；Wave spectrum type includes
PM spectrum, ITTC spectrum, B spectrum, ISSC and J spectrum；Ariyoshi wave height is 1.6 times of mean wave height, is 31 wave height or ariyoshi wave height, unit
Rice (m), default value are 0.1m (100m), and minimum value is 0.01m (10mm), maximum value 1m；The ariyoshi period reaches for wave height to be had
The period of the irregular wave of adopted wave height, unit second (s), default value 1.5s, minimum value are 0.6s (600ms), maximum value 10s；
Average period: the average value in the period of all waves of irregular wave, unit are (s), default value 1.5s, minimum value 0.6s
(600ms), maximum value 10s.
Step 2, according to first make wave parameter and it is preset make wave algorithm generate include all motor movement positions first
CAM table, CAM table include a line time cycle data, a line position cycle data, the servo motor being connect with wave paddle according to
The position of CAM table is run, to obtain required wave.In the present embodiment, the wave algorithm of making can be using based on most preferably forcing
Nearly theory makes wave algorithm, in other embodiments, can also make wave algorithm using common other.
Step 3, first CAM table is read, first CAM table is compiled according to preset electric cam algorithm
It translates, and the first virtual time main shaft is generated according to compiling result.
Step 4, the corresponding motor servo unit of every piece of wave paddle is controlled according to the first virtual time main shaft,
Generate actual forward wave.In this step, the position command for all servo motors connecting with wave paddle is according to virtual time master
Axis is moved, and synchronizes operation according to CAM table to realize.
Step 5, second is generated according to the waveform of the actual forward wave and target waveform and make wave parameter, and repeat step 2
~3, it generates second and makes the corresponding second virtual time main shaft of wave parameter.In the present embodiment, the target waveform is also forward wave,
Therefore it second makes wave parameter and is mainly used for being adjusted the wave height of actual forward wave, i.e., second makes wave parameter as compensation wave height.
Obtaining compensation wave height includes two methods: the practical wave height and target waveform for obtaining the current wave sequence of actual forward wave correspond to wave
First difference is set as compensating wave height, or obtains in preset time period by the first difference of the target wave height of unrestrained sequence
Corresponding first difference of each wave sequence of actual forward wave, and the average value of all first differences is calculated, it will be described flat
Mean set is compensation wave height.The present embodiment can carry out feedback tune to the waveform produced using real-time or global two ways
It is whole, so that the forward wave produced be allowed to be more in line with target waveform.
In other embodiments, when the target waveform is regular oblique wave or irregular oblique wave, described second makes wave
Parameter is the phase difference of the corresponding adjacent two pieces of wave paddles of tilt angle of target waveform, then makes wave parameter according to second and generates
Second virtual time main shaft.The control principle of second virtual time main shaft specifically: the operation of each motor have one it is fixed
Phase angle successively starts, and successively stops.In electric cam table, progress period starting time of each motor is incremented by, together
When negative sense carried out to the time location of starting successively decrease, can be obtained by successively start in this way, then snake is read to the wave of fluctuation
The product that maximum axis and deviation time are cut after maximum time obtains the time stopped needed for first axle, is then successively stopped
Only.
Step 6, the first virtual time main shaft and the second virtual time main shaft are overlapped, when generation third is virtual
Between main shaft；
Step 7, the corresponding motor servo unit of every piece of wave paddle is controlled using the third virtual time main shaft,
Generate target waveform.
The forward wave waveform and target waveform produced for the first time are compared by the present embodiment, according to comparison result to forward direction
Wave waveform is adjusted, and finally obtains the wave for meeting user demand, and it is simple not only to make wave mode, but also makes that wave velocity is fast, control
Precision height processed.And in other embodiments, when needing to produce oblique wave, forward wave is produced first, is then adjusted adjacent two pieces and is made wave
The phase difference of plate makes wave side so that forward wave be made to become the oblique wave for meeting target waveform so as to adjust the tilt angle of forward wave
Formula is simple and efficient, to obtain various types of waves, is met and is made wave demand in a variety of situations of user.
As shown in Fig. 2, being a kind of structural schematic diagram of the wave maker kinetic control system of embodiment 2, including host computer, control
Device and wave unit is made, the host computer includes:
Parameter setting unit makes wave parameter for setting first；
Parameter generating unit makes wave parameter for generating second according to the waveform and target waveform of actual forward wave；
CAM table generation unit, for according to first make wave parameter and it is preset make wave algorithm generate the first CAM table, with
And for according to second make wave parameter and it is preset make wave algorithm generate the second CAM table；
Virtual time main shaft generation unit, for reading first CAM table or the second CAM table, according to preset electricity
Sub- cam algorithm is compiled first CAM table or the second CAM table, and is generated according to the compiling result of the first CAM table
First virtual time main shaft generates the second virtual time main shaft according to the compiling result of the second CAM table；
Superpositing unit generates for the first virtual time main shaft and the second virtual time main shaft to be overlapped
Three virtual time main shafts；
The controller is used to generated according to the first virtual time main shaft for controlling the first control for making wave unit
Instruction, or generated according to the third virtual time main shaft for controlling the second control instruction for making wave unit；
It is described make wave unit for according to first control instruction to the corresponding motor servo unit of every piece of wave paddle into
Row control, generates actual forward wave, or according to second control instruction to the corresponding motor servo unit of every piece of wave paddle
It is controlled, generates target waveform.In the present embodiment, the wave unit of making includes multiple servo-drivers and drives with each servo
The servo motor of dynamic device connection, each servo motor connect a wave paddle by electric cylinder；The servo-driver is used for root
According to the first control instruction or the second control instruction, the forward motion order or counter motion order of servo motor are generated；It is described to watch
Motor is taken for making forward motion or reversed fortune at corresponding time point according to the forward motion order or counter motion order
It is dynamic；The electric cylinder is used to be converted to the forward motion of servo motor or counter motion the forward or backward straight of corresponding wave paddle
Line movement, to generate corresponding actual forward wave or target waveform.
In the present embodiment, shown host computer uses times good fortune industrial personal computer, based on the powerful calculation function of good fortune industrial personal computer again, only needs
1 host computer can meet the control of 255 axis, not need motion-control module, and convenient by integrating multiple interfaces
The extension of system can easily realize 3 upper mutual communications and the motion control of up to 765 axis.In the present embodiment, servo is driven
Dynamic device is the i700 of LENZE company of Germany, and using center power supply centrally connected power supply, sexual valence is high；In-book form mounting structure saves electric cabinet
Space, DC bus connection, saves wiring, optimizes energy consumption；Unified Engineering Interface, plug-in wiring facilitate debugging.And
With high response speed, 62.5 μ s of electric current/torque, 125 μ s of speed control, 250 μ s of position control, therefore can accurately control
System.And servo motor has the standard degree of protection of I P67 using the U serial motors of Fei Shi company of Italy production.
The present embodiment, which can control 128 servo motors, to carry out synthesis and makes wave, can simulate all sea situation requirements substantially,
It is controlled simultaneously using host computer wave unit is made, does not need motion controller, not only cost performance is high, saves wiring, optimization
Control structure and energy consumption, and it is higher to communicate faster more stable and control precision, meets and makes wave control system to synchronism
With the requirement of real-time.
In the present embodiment, the host computer and controller are communicated using ADS mode；The controller and servo-drive
Device is communicated using EtherCAT mode, and communication speed is fast, only needs 1ms and network stabilization height, diagnosis capability are strong, to protect
The control precision of system is demonstrate,proved.
In the present embodiment, the parameter generating unit is specifically used for when the target waveform is regular forward wave or is not advised
Then when forward wave, the practical wave height and target waveform that obtain the current wave sequence of actual forward wave correspond to the target wave of wave sequence
First difference is set as second and makes wave parameter, or obtains actual forward wave in preset time period by the first high difference
Corresponding first difference of each wave sequence, and the average value of all first differences is calculated, the average value is set as
Second makes wave parameter.The present embodiment carries out feedback adjustment to the waveform produced using real-time or global two ways, to allow
The forward wave produced is more in line with target waveform.
The present embodiment further includes detection unit, and detection unit is embedded in wave tank, any for detecting actual forward wave
The practical wave height of wave sequence, to obtain the corresponding compensation wave height of forward wave, in the present embodiment, the detection unit is used
PCI8360A data collecting card.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of wave maker motion control method, which comprises the following steps:
Step 1, wave parameter is made in setting first；
Step 2, wave parameter is made according to first and preset wave algorithm of making generates the first CAM table；
Step 3, first CAM table is read, first CAM table is compiled according to preset electric cam algorithm,
And the first virtual time main shaft is generated according to compiling result；
Step 4, the corresponding motor servo unit of every piece of wave paddle is controlled according to the first virtual time main shaft, is generated
Actual forward wave；
Step 5, second is generated according to the waveform of the actual forward wave and target waveform and makes wave parameter, and repeat step 2~3,
It generates second and makes the corresponding second virtual time main shaft of wave parameter；
Step 6, the first virtual time main shaft and the second virtual time main shaft are overlapped, generate third virtual time master
Axis；
Step 7, the corresponding motor servo unit of every piece of wave paddle is controlled using the third virtual time main shaft, is generated
Target waveform；
Wherein, the target waveform includes regular forward wave, irregular forward wave, regular oblique wave and irregular oblique wave；When described
When target waveform is regular forward wave or regular oblique wave, described first to make wave parameter include wave period, wave height and wave number；Work as institute
State target waveform be irregular forward wave or irregular oblique wave when, described first make wave parameter include make wave time interval, wave amplitude
Number makes wave time, target irregular wave curve, wave spectrum type, ariyoshi wave height, ariyoshi period and average period.
2. wave maker motion control method according to claim 1, which is characterized in that when the target waveform be rule just
When to wave or irregular forward wave, described second makes wave parameter as compensation wave height, the step 5 specifically: is obtaining reality just
The first difference that the target wave height of wave sequence is corresponded to the practical wave height and target waveform of the current wave sequence of wave, by described
One difference is set as compensating wave height, or obtains each wave sequence of actual forward wave corresponding described first in preset time period
Difference, and the average value of all first differences is calculated, the average value is set as to compensate wave height.
3. wave maker motion control method according to claim 1, which is characterized in that when the target waveform is that rule is oblique
When wave or irregular oblique wave, described second makes the corresponding adjacent two pieces of wave paddles of tilt angle that wave parameter is target waveform
Phase difference.
4. a kind of wave maker kinetic control system, which is characterized in that including host computer, controller and wave unit is made, it is described upper
Machine includes:
Parameter setting unit makes wave parameter for setting first；
Parameter generating unit makes wave parameter for generating second according to the waveform and target waveform of actual forward wave；
CAM table generation unit, for according to first make wave parameter and it is preset make wave algorithm generate the first CAM table, Yi Jiyong
According to second make wave parameter and it is preset make wave algorithm generate the second CAM table；
Virtual time main shaft generation unit, it is convex according to preset electronics for reading first CAM table or the second CAM table
Wheel algorithm is compiled first CAM table or the second CAM table, and generates first according to the compiling result of the first CAM table
Virtual time main shaft generates the second virtual time main shaft according to the compiling result of the second CAM table；
It is empty to generate third for the first virtual time main shaft and the second virtual time main shaft to be overlapped for superpositing unit
Pseudotime main shaft；
The controller is used to be generated according to the first virtual time main shaft for controlling the first control instruction for making wave unit,
Or it is generated according to the third virtual time main shaft for controlling the second control instruction for making wave unit；
The wave unit of making is for controlling the corresponding motor servo unit of every piece of wave paddle according to first control instruction
System generates actual forward wave, or carries out according to second control instruction to the corresponding motor servo unit of every piece of wave paddle
Control generates target waveform；
The target waveform includes regular forward wave, irregular forward wave, regular oblique wave and irregular oblique wave；When the target wave
When shape is regular forward wave or regular oblique wave, described first to make wave parameter include wave period, wave height and wave number；When the target
When waveform is irregular forward wave or irregular oblique wave, described first makes wave parameter including making wave time interval, wave amplitude number, making
Wave time, target irregular wave curve, wave spectrum type, ariyoshi wave height, ariyoshi period and average period.
5. wave maker kinetic control system according to claim 4, which is characterized in that the wave unit of making includes multiple watches
The servo motor for taking driver and connecting with each servo-driver, each servo motor connect one by electric cylinder and make wave
Plate；
The servo-driver is used to generate the forward motion life of servo motor according to the first control instruction or the second control instruction
Order or counter motion order；
The servo motor is used to make positive fortune at corresponding time point according to the forward motion order or counter motion order
Dynamic or counter motion；
The electric cylinder is used to the forward motion of servo motor or counter motion being converted to the forward or backward of corresponding wave paddle
Linear motion, to generate corresponding actual forward wave or target waveform.
6. wave maker kinetic control system according to claim 4 or 5, which is characterized in that the host computer and controller
It is communicated using ADS mode；The controller and servo-driver are communicated using EtherCAT mode.
7. wave maker kinetic control system according to claim 6, which is characterized in that the parameter generating unit is specifically used
In when the target waveform is regular forward wave or irregular forward wave, the reality of the current wave sequence of actual forward wave is obtained
Border wave height and target waveform correspond to the first difference of the target wave height of wave sequence, and first difference is set as second and makes wave
Parameter, or corresponding first difference of each wave sequence of actual forward wave in preset time period is obtained, and calculate all
The average value is set as second and makes wave parameter by the average value of the first difference.
8. wave maker kinetic control system according to claim 7, which is characterized in that it further include detection unit, the inspection
Survey the practical wave height that unit is used to detect any wave sequence of actual forward wave.
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| CN111307413B (en) * | 2020-03-17 | 2021-09-21 | 江苏科技大学 | Intelligent correction system and method for ship model test pool waves based on cloud service |
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| CN102183355B (en) * | 2011-03-08 | 2015-04-22 | 中山大学 | Nonlinearly controlled high-precision wave generation system and method |
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| CN106353070A (en) | 2017-01-25 |
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