CN106915422A - A kind of integrated value method controller - Google Patents
A kind of integrated value method controller Download PDFInfo
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- CN106915422A CN106915422A CN201510987040.4A CN201510987040A CN106915422A CN 106915422 A CN106915422 A CN 106915422A CN 201510987040 A CN201510987040 A CN 201510987040A CN 106915422 A CN106915422 A CN 106915422A
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- water tank
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- 238000000034 method Methods 0.000 title claims abstract description 5
- 238000005096 rolling process Methods 0.000 claims abstract description 104
- 239000003381 stabilizer Substances 0.000 claims abstract description 57
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 17
- 230000002068 genetic effect Effects 0.000 claims abstract description 4
- 238000005457 optimization Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 43
- 230000000694 effects Effects 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000013178 mathematical model Methods 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 10
- 230000002596 correlated effect Effects 0.000 claims description 4
- 230000002411 adverse Effects 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 abstract description 6
- 238000011105 stabilization Methods 0.000 abstract description 6
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000007547 defect Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
It is an object of the invention to provide being a kind of application and ship stabilization, can be low with energy consumption and a kind of integrated value method controller of preferable stabilization capability can be reached.First, analysis ship-fin stabilizing system Mathematical Modeling and ship-passive anti-rolling tank system mathematic model set up stabilizer-passive anti-rolling tank integrated value method system mathematic model.Secondly, analysis stabilizer and passive anti-rolling tank influence each other.Furthermore, quadratic performance index is set up, using genetic algorithm to parameter optimization, PID CONTROLLER WITH VARIABLE ARGUMENTS of the design based on energetic optimum.Finally, control specific experiment ship emulation and contrasted with traditional PID control.
Description
Technical Field
The invention relates to a ship roll reduction controller, in particular to a comprehensive roll reduction controller.
Background
When a ship sails on the sea, the ship is interfered by sea wind, sea waves and ocean currents to generate motions with six degrees of freedom, such as rolling, bow swing, heaving and the like, wherein the rolling motion is the most violent. The serious rolling motion can cause the equipment on the ship to be incapable of working normally, the deck to be soaked, and the crew is uncomfortable in working and life; aiming of a gun system is influenced for a warship, the on-duty efficiency of soldiers is reduced, and a carrier-based aircraft cannot rise and fall safely. In order to effectively reduce the rolling of ships, people invent various anti-rolling devices, and the anti-rolling devices are commonly used in the future after the cost and the reliability are considered, and comprise anti-rolling fins, passive anti-rolling water tanks, anti-rolling rudders and bilge keels. In designing, it is premised that the desired roll reduction is achieved without affecting the rolling motion characteristics of the vessel too much, while the roll reduction is designed primarily with consideration given to the sea conditions within a certain range, rather than being designed with less encountered harsh sea conditions, primarily with consideration given to the cost and the motion performance of the vessel. Bilge keels are used in large quantities due to their simple structure, their economy and their good anti-rolling effect. The fin stabilizer is shaped like a wing, and according to hydrodynamics, fast flowing seawater can generate lifting force on the fin and generate torque to resist the interference of sea waves on a ship. The anti-rolling effect of the anti-rolling fin is positively correlated to the ship speed, the anti-rolling effect is more obvious when the ship speed is higher, the highest anti-rolling ratio can reach 9, but the anti-rolling effect is not obvious when the ship speed is low or zero, and the anti-rolling fin is also a defect of the anti-rolling fin. The passive anti-rolling tank is designed according to the resonance principle, and when a ship moves, liquid in the tank flows to generate moment to offset interference of sea waves. The passive anti-rolling water tank with a good design can be used for anti-rolling at various navigational speeds, particularly has a certain anti-rolling effect at low navigational speed and zero navigational speed, can make up for the defects of the anti-rolling fin, but has own limitations, and can not be used for anti-rolling and can aggravate rolling under some conditions.
The comprehensive stabilization system has the advantages of the fin stabilizer and the passive stabilization water tank and can make up the defects of the fin stabilizer and the passive stabilization water tank, and the ship can have satisfactory stabilization effect under various navigational speeds and sea conditions through good control. After the ship is simultaneously provided with the anti-rolling fin and the passive anti-rolling water tank, the anti-rolling fin and the passive anti-rolling water tank work simultaneously, and the anti-rolling capability is not the simple addition of the anti-rolling fin and the passive anti-rolling water tank. The stabilizer has two types of retractable and non-retractable, and the retractable structure is complex, the cost is high, and the stabilizer is not applied in a large quantity. Considering that the fin is not impacted when navigating, the size of the fin has certain limitation. The well-designed passive anti-rolling water tank only works by the inherent frequency of the tank, additional control is not needed, and electric energy is not consumed. The fin stabilizer is an active stabilizer and is provided with a special control circuit and special equipment, the rotating fin stabilizer can generate counter torque adaptive to constantly changing wave disturbance torque, and electric energy is consumed during work. The stabilizing ability of a stabilizer fin is proportional to the surface area of the fin. When the ship sails on the sea for a long time, raw material supply is difficult, so that energy conservation and consumption reduction need to be considered, and the goal of having better anti-rolling capability and low energy consumption can be achieved by designing a variable parameter controller.
Disclosure of Invention
The invention aims to provide a comprehensive anti-rolling controller which is applied to anti-rolling of ships, has low energy consumption and can achieve better anti-rolling capability.
The purpose of the invention is realized as follows:
an integrated roll reduction controller comprising a vessel-tank; the method is characterized in that: the ship-water tank comprises an angular velocity sensor, a controller, a navigational speed adjusting device, a wave level adjusting device and a fin-follow-up system; the angular velocity sensor, the controller, the navigational speed adjusting device, the wave level adjusting device and the fin-follow-up system are sequentially connected.
Firstly, analyzing a ship-fin stabilizer system mathematical model and a ship-passive stabilizer tank system mathematical model to establish a fin stabilizer-passive stabilizer tank comprehensive stabilizer system mathematical model; secondly, analyzing the mutual influence of the fin stabilizer and the passive stabilizer; thirdly, establishing a secondary performance index, optimizing parameters by adopting a genetic algorithm, and designing a variable parameter PID controller based on energy optimization; and finally, simulating the control of a specific experimental ship and comparing the control with the traditional PID control.
The fin-passive anti-rolling tank comprehensive anti-rolling system mathematical model is as follows:
wherein, ；；
；；
the working principle of the water tank can be known, and the anti-rolling capacity of the water tank is determined by the rolling frequency and the rolling angle of the ship; according to a differential equation of the passive anti-rolling water tank, the height change of the liquid in the tanks on the two sides is determined by the rolling angle of the ship, and the larger the rolling angle is, the larger the change amplitude is; when the fin stabilizer actively works, the fin stabilizer can generate moment by rotating a certain angle to resist the disturbance moment interference of sea waves, so that the rolling of a ship can be reduced, the water level of liquid in a water tank and the rolling frequency of the ship can be influenced, the rolling frequency of the fin stabilizer is a fixed value after various parameters of the fin stabilizer are set, and the rolling effect of a passive water tank can be reduced when the difference between the rolling frequencies of the ship and the water tank is increased; the fin stabilizing effect is known to be positively correlated with the ship speed, when the ship speed is higher and higher, the fin stabilizing effect is better and better, but the stabilizing effect of the passive water tank is reduced due to the fact that the ship speed is higher, so that the stabilizing effect of the comprehensive stabilizing system is not the simple addition of the fin and the water tank; when the vessel is not equipped with a roll stabilizer, the natural frequency of the vessel roll is(ii) a The rolling frequency of the ship is changed into after only installing the stabilizer fins(ii) a Therefore, the fin is arranged, so that the rolling frequency of the ship is increased, and the larger the speed is, the larger the A is, the larger the natural rolling frequency is; the ship only has the rolling frequency of the passive water tank(ii) a Due to the fact thatTherefore, although the rolling motion frequency of the ship can be changed when the fin stabilizer works, so that the rolling effect of the passive water tank is influenced, the rolling motion frequency of the ship can also be influenced by the tank due to the oscillation of liquid, and the adverse effect of a part of fin stabilizers can be counteracted.
Performance index of the system:
。
the advantages of the invention include:
(1) the control parameters of the controller designed by the invention can change along with the changes of the navigational speed and the sea state, thereby ensuring that the ship can effectively reduce the rolling and optimize the energy under various conditions.
(2) In the control design of the invention, the residual roll angle variance, the fin angle saturation rate and the fin consumption energy are considered to form a performance index, so that the efficiency is highest when the control effect is optimal.
Drawings
Fig. 1 is a block diagram of the integrated stabilizer system.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
example 1
With reference to fig. 1, each link of the integrated stabilizing system is defined as follows:
inclination of wave encountered by ship and sea wave:；
ship roll angle:；
fin angle of fin stabilizer:；
equivalent dip converted from fin angle of stabilizer:；
conversion coefficient from fin angle of stabilizer to wave inclination angle:；
ship-tank system letter:；
transfer letter of the gyro:；
pre-placing an operational amplifier letter:；
PID transfer function:；
transfer function of fin servo system:；
the system transfer function can be obtained by the differential equation (2-31) of the ship-passive anti-rolling tank:
；
(1) the ship-water tank system has the following specific transfer letters:
(2)；
(2) angular rate gyro equation of motion:
(3)；
wherein:、is the motor angular velocity;
is the moment of inertia about the frame and gyro motor about the axis of rotation;
is the corner of the frame;
c is the stiffness coefficient of the frame;
d is the damping coefficient;
is the same asThe proportionality coefficient of the stepper;
it is known that，Is the angular velocity sensor output voltage.
The angular rate gyro parameters selected at this time are as follows:
；；；。
transfer letter of the gyro:
(4)
(4) PID controller transfer function:
the known control system employs a counter-acting control principle, and the controller then satisfies:
(5)
when the stabilizer works, the integral link of the PID controller integrates for a long time, so that the integral drift problem exists, and the inertia link can be generally used for replacing:
(6)；
the differential link is easily interfered by high-frequency signals, and can be replaced by an indirect differential link:
(7)；
in conclusion, the PID controller transfer function can be obtained:
(8)；
the stabilizer follow-up system is approximately simplified into a second-order system:
。
example 2
Firstly, a mathematical model of a ship-fin stabilizer system and a mathematical model of a ship-passive stabilizer tank system are analyzed to establish a mathematical model of a fin stabilizer-passive stabilizer tank comprehensive stabilizer system.
Secondly, the mutual influence of the fin stabilizer and the passive type stabilizing water tank is analyzed.
And establishing a secondary performance index, optimizing the parameters by adopting a genetic algorithm, and designing a variable parameter PID controller based on energy optimization.
And finally, simulating the control of a specific experimental ship and comparing the control with the traditional PID control.
The invention also includes:
(1) the fin-passive anti-rolling tank comprehensive anti-rolling system mathematical model is as follows:
；
wherein, ；；；
；；；
(2) the working principle of the water tank is known, and the anti-rolling capacity of the water tank is determined by the rolling frequency and the rolling angle of the ship. According to a differential equation of the passive anti-rolling water tank, the height change of the liquid in the tanks on the two sides is determined by the rolling angle of the ship, and the larger the rolling angle is, the larger the change amplitude is. When the known fin stabilizer works actively, the fin stabilizer can generate moment through rotating a certain angle to resist the disturbance moment interference of sea waves, so that the rolling of a ship can be reduced, the water level of liquid in a water tank and the rolling frequency of the ship can be influenced, the rolling frequency of the fin stabilizer is a fixed value after various parameters of the fin stabilizer are set, and the rolling effect of a passive water tank can be reduced due to the fact that the difference between the rolling frequency of the ship and the rolling frequency of the water tank is increased. The fin stabilizing effect is known to be positively correlated with the ship speed, and the fin stabilizing effect is better and better when the ship speed is higher and higher, but the fin stabilizing effect is passiveThe roll reduction effect of the tank is reduced as the speed of the ship increases, so the roll reduction effect of the integrated roll reduction system is not simply the sum of the fin and the tank. When the vessel is not equipped with a roll stabilizer, the natural frequency of the vessel roll is(ii) a The rolling frequency of the ship is changed into after only installing the stabilizer fins(ii) a Therefore, the ship rolling frequency is increased by arranging the fins, and the natural rolling frequency is increased as the speed is larger and the A is larger because the A is proportional to the square of the speed. The ship only has the rolling frequency of the passive water tank. Due to the fact thatTherefore, although the rolling motion frequency of the ship can be changed when the fin stabilizer works, so that the rolling effect of the passive water tank is influenced, the rolling motion frequency of the ship can also be influenced by the tank due to the oscillation of liquid, and the adverse effect of a part of fin stabilizers can be counteracted.
(3) Performance index of the system:
。
Claims (5)
1. An integrated roll reduction controller comprising a vessel-tank; the method is characterized in that: the ship-water tank comprises an angular velocity sensor, a controller, a navigational speed adjusting device, a wave level adjusting device and a fin-follow-up system; the angular velocity sensor, the controller, the navigational speed adjusting device, the wave level adjusting device and the fin-follow-up system are sequentially connected.
2. An integrated roll reduction controller as claimed in claim 1, wherein: firstly, analyzing a ship-fin stabilizer system mathematical model and a ship-passive stabilizer tank system mathematical model to establish a fin stabilizer-passive stabilizer tank comprehensive stabilizer system mathematical model; secondly, analyzing the mutual influence of the fin stabilizer and the passive stabilizer; thirdly, establishing a secondary performance index, optimizing parameters by adopting a genetic algorithm, and designing a variable parameter PID controller based on energy optimization; and finally, simulating the control of a specific experimental ship and comparing the control with the traditional PID control.
3. An integrated roll reduction controller according to claims 1-2, characterized by: the fin-passive anti-rolling tank comprehensive anti-rolling system mathematical model is as follows:
wherein, ；；
；；。
4. an integrated roll reduction controller according to claim 3, wherein: the working principle of the water tank can be known, and the anti-rolling capacity of the water tank is determined by the rolling frequency and the rolling angle of the ship; according to a differential equation of the passive anti-rolling water tank, the height change of the liquid in the tanks on the two sides is determined by the rolling angle of the ship, and the larger the rolling angle is, the larger the change amplitude is; when the fin stabilizer actively works, the fin stabilizer can generate moment by rotating a certain angle to resist the disturbance moment interference of sea waves, so that the rolling of a ship can be reduced, the water level of liquid in a water tank and the rolling frequency of the ship can be influenced, the rolling frequency of the fin stabilizer is a fixed value after various parameters of the fin stabilizer are set, and the rolling effect of a passive water tank can be reduced when the difference between the rolling frequencies of the ship and the water tank is increased; the fin stabilizing effect is known to be positively correlated with the ship speed, when the ship speed is higher and higher, the fin stabilizing effect is better and better, but the stabilizing effect of the passive water tank is reduced due to the fact that the ship speed is higher, so that the stabilizing effect of the comprehensive stabilizing system is not the simple addition of the fin and the water tank; when the vessel is not equipped with a roll stabilizer, the natural frequency of the vessel roll is(ii) a The rolling frequency of the ship is changed into after only installing the stabilizer fins(ii) a Therefore, the fin is arranged, so that the rolling frequency of the ship is increased, and the larger the speed is, the larger the A is, the larger the natural rolling frequency is; the ship only has the rolling frequency of the passive water tank(ii) a Due to the fact thatTherefore, although the rolling motion frequency of the ship can be changed when the fin stabilizer works, so that the rolling effect of the passive water tank is influenced, the rolling motion frequency of the ship can be influenced by the tank due to the oscillation of liquid, and the tank canWhich is sufficient to counteract the adverse effect of a part of the fin stabilizer.
5. An integrated roll reduction controller according to claim 4, wherein: the performance indexes of the system are as follows:
。
Priority Applications (1)
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| CN201510987040.4A CN106915422A (en) | 2015-12-27 | 2015-12-27 | A kind of integrated value method controller |
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| CN201510987040.4A CN106915422A (en) | 2015-12-27 | 2015-12-27 | A kind of integrated value method controller |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018237A (en) * | 2018-06-19 | 2018-12-18 | 哈尔滨工程大学 | A kind of ship fin/water tank joint rollstabilization intelligence control system and its control method |
| CN110615076A (en) * | 2019-09-25 | 2019-12-27 | 哈尔滨工程大学 | Separation cylinder formula anti-sway device based on magnus effect |
| CN111552186A (en) * | 2020-06-22 | 2020-08-18 | 大连海事大学 | Rudder and fin combined anti-rolling control method and system based on CAN bus |
| CN112078741A (en) * | 2020-09-17 | 2020-12-15 | 金陵科技学院 | Three-ring self-adaptive magnetic suspension active driving mass block stabilization device and control method thereof |
| CN113375952A (en) * | 2021-06-08 | 2021-09-10 | 上海衡拓船舶设备有限公司 | Fault diagnosis and health forecast system for fin stabilizer |
| CN114013590A (en) * | 2021-09-17 | 2022-02-08 | 广西科技大学 | Unmanned ship is patrolled and examined to quality of water with anti-sway device |
-
2015
- 2015-12-27 CN CN201510987040.4A patent/CN106915422A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109018237A (en) * | 2018-06-19 | 2018-12-18 | 哈尔滨工程大学 | A kind of ship fin/water tank joint rollstabilization intelligence control system and its control method |
| CN110615076A (en) * | 2019-09-25 | 2019-12-27 | 哈尔滨工程大学 | Separation cylinder formula anti-sway device based on magnus effect |
| CN110615076B (en) * | 2019-09-25 | 2022-03-18 | 哈尔滨工程大学 | Separation cylinder formula anti-sway device based on magnus effect |
| CN111552186A (en) * | 2020-06-22 | 2020-08-18 | 大连海事大学 | Rudder and fin combined anti-rolling control method and system based on CAN bus |
| CN111552186B (en) * | 2020-06-22 | 2022-06-07 | 大连海事大学 | Rudder and fin combined anti-rolling control method and system based on CAN bus |
| CN112078741A (en) * | 2020-09-17 | 2020-12-15 | 金陵科技学院 | Three-ring self-adaptive magnetic suspension active driving mass block stabilization device and control method thereof |
| CN113375952A (en) * | 2021-06-08 | 2021-09-10 | 上海衡拓船舶设备有限公司 | Fault diagnosis and health forecast system for fin stabilizer |
| CN113375952B (en) * | 2021-06-08 | 2024-03-19 | 上海衡拓船舶设备有限公司 | Stabilizer device fault diagnosis and health forecasting system |
| CN114013590A (en) * | 2021-09-17 | 2022-02-08 | 广西科技大学 | Unmanned ship is patrolled and examined to quality of water with anti-sway device |
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