CN107145074A - A kind of high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law - Google Patents
A kind of high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law Download PDFInfo
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Abstract
The present invention is to provide a kind of high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law.This method designs the random seaway model of different stage；Trimaran hydrodynamic force coefficient is obtained using ANSYS Platform Analysis, trimaran lengthwise movement mathematical modeling is set up, longitudinal motion response heaving height and pitch angular is obtained；Using heaving height and pitch angular as input, the sliding mode control law based on Reaching Law is designed, obtains exporting inflow angle degree knots modification；Set up the lengthwise movement model for subtracting and shaking the T-shaped wing of attached body and wave suppression plate, it will subtract and shake attached body inflow angle degree knots modification as subtracting and shake attached body control system and input, it is output as subtracting and shakes longitudinal force and torque that attached body provides for trimaran, feedback effect is in high-speed trimaran lengthwise movement system.It in terms of this method can be applied to the stability control of military and civilian multi-hull ship, can effectively weaken influence of the wave for trimaran kinetic stability, improve comfort of passenger.
Description
Technical field
Subtract the invention belongs to high-speed trimaran lengthwise movement and shake control field, more particularly to one kind is become based on sliding moding structure
The high-speed trimaran pitching stabilization control method of nearly law.
Background technology
Classical control theory and modern control theory are all to need controlled device to possess clearly mathematical modeling, but actual
Control object is unsatisfactory, and the mechanism of system may be very complicated, and scale is very huge, and variable is a lot, and parameter is changeable and couples, or is
System has non-linear, uncertain, time variation, the situation of hysteresis quality, and Traditional control theory is difficult to be analyzed with mathematics, and is set up
In accordance with the mathematical modeling of the characteristics of motion.Will be to non-linear using linearisation when generally modeling, distributed constant will use lumped parameter,
Time-varying coefficient needs to use constant coefficient, and modeling and actual capabilities can have a tremendous difference, therefore the Traditional control in actually control
Algorithm is difficult to prove effective.Longitudinally subtract to shake in trimaran and traditional control method such as PID controller is used in control system, although algorithm is simple
It is single, but it is only applicable to that object parameters are constant, non-linear not serious system, it is impossible to accomplish in trimaran quick sailing
In realize dynamic control, and its control effect far can not also reach demand according to experimental result.LQR control methods it is optimal
Control effect depends on Weighting Matrices Q and R selection, can so produce very big workload and error is very big.
Sliding mode variable structure control method advantage is can be designed and unrelated with image parameter and disturbance, and can quickly be rung
Should, Ability of Resisting Disturbance is strong, physics realization is simple etc..Subtract for high-speed trimaran and shake control, traditional PID control method is not
Can meet realized in complicated random sea situation it is quick, nonlinear control in real time, and what sliding moding structure had due to it
Above feature can better adapt to these complex situations, and subtract vertical applied to emerging high-speed trimaran for sliding-mode method at present
Shaking aspect, there is presently no clear and definite design.
The content of the invention
It can preferably improve high speed, elongated trimaran longitudinal vortices it is an object of the invention to provide a kind of
The high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law.
A kind of high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law of the present invention includes following step
Suddenly：
Step one：The random seaway model of different stage is designed according to international meteorological office wave standard；
Step 2：Using random seaway model, trimaran hydrodynamic force coefficient is obtained using ANSYS Platform Analysis, further according to
Hydrodynamic force coefficient sets up high-speed trimaran lengthwise movement mathematical modeling, obtain the heaving of high-speed trimaran longitudinal motion response height and
Pitch angular；
Step 3：Using above-mentioned high-speed trimaran longitudinal motion response heaving height and pitch angular, design is based on convergence
The sliding mode control law of rule, obtains control output inflow angle degree knots modification；
Step 4：Set up and subtract the lift and Calculating Torque during Rotary model that shake the T-shaped wing of attached body and wave suppression plate, shake attached body using subtracting and meet stream
Angulation change, which measures to subtract, shakes longitudinal force and torque that attached body provides for trimaran, and feedback effect is in high-speed trimaran lengthwise movement
System.
Random seaway model described in step one is specially：
(1) according to the corresponding different significant wave height H of different stage wave and frequency range of international meteorological organization prescribed, use
The foundation of the random seaway model of MATLAB programming realization different stages；
(2) model, which is set up, is based on reasonable spectrometry, shown in the rational spectrum of design is defined as follows：
Wherein, Sx(ω) is the power spectral density function of involved real stationary random process X (t), and P (ω) and Q (ω) are then
It is ω real polynomials and denominator order has to be higher than molecule；
Wave final mask is：
εiRepresent the phase angle for constituting wave ripple, it is believed that be the stochastic variable in (0,2 π) interval, i.e. εi=rand (0,2
π), S (wi) wave is in circular frequency wiThe power spectral density at place, N is sample number；
(3) input of wave module is clock, will be output as the input of module below.
Trimaran lengthwise movement model described in step 2 is specially：
(1) trimaran hydrodynamic force coefficient under the different speed of a ship or plane is obtained using ANSYS Platform Analysis；
(2) according to trimaran is in the marine speed of a ship or plane, Wave Model and meets with frequency, use MATLAB platforms " ss2tf "
Function is realized the specific decoupling to trimaran lengthwise movement model and solution.
The sliding mode control law based on Reaching Law described in step 3 is specially：
(1) the lengthwise movement control system variable-structure control of trimaran is set up：
Exponentially approaching rule is designed as:
Wherein：For exponential approach；
Obtain variable-structure control：
(2) softening processing is carried out to control law：
Wherein, ξ is a small integer independently selected；
The sliding mode control law based on Reaching Law finally given is：
Wherein, the robust performance of parameter ε decision systems, is worth bigger robust performance better；Parameter q determines control system gradually
Close to the speed of hyperplane, q is bigger, and the speed of system convergence is faster, and A, B are systematic observation matrix, and C is control square to be asked
Battle array, can be compiled platform by using MATLAB, be tried to achieve using Method of Pole Placement, and ξ is a small integer independently selected.
Subtracting described in step 4 shakes the lift and Calculating Torque during Rotary model of the T-shaped wing of attached body and wave suppression plate：
Inflow angle degree knots modification and to should angle be between the power that trimaran is longitudinally provided be a non-linear relation, together
When obtained the corresponding torque of the power：
MT/F=da·FT/F
In formula：ρ is density of sea water, 1.025 × 103kg/m3；A is the projected area of the T-shaped wing or wave suppression plate, and V is ship's speed；α
Angle of attack knots modification is flowed to subtract to shake attached body and meet；CL(α) is to subtract the lift coefficient for shaking attached body, can be typically considered as in angle of attack very little
Constant, daFor the vertical range between T-shaped wing installation site and center of gravity；Ft、FfAnd Mt、MfRepresent that the T-shaped wing and wave suppression plate are carried respectively
The lift and torque of confession.
The control method that the present invention is designed subtracts for longitudinal direction of the high-speed trimaran the most frequently used at present in marine navigation shakes,
The obvious hull heaving and pitching reduced in motion.Realize for high-speed trimaran longitudinally to subtract sliding-mode control and shake
Function, it is adaptable to which sea situation is complicated, high ship's speed sail environment, can be applied to the stability control of military and civilian multi-hull ship
Aspect, can effectively weaken influence of the wave for trimaran kinetic stability, improve comfort of passenger.
Brief description of the drawings
Fig. 1 (a) is SSN5 grades of random seaway threedimensional models as defined in the international weather office designed in the present invention；
Fig. 1 (b) is SSN6 grades of random seaway threedimensional models as defined in the international weather office designed in the present invention；
Fig. 2 is the Control system architecture block diagram that the present invention is designed；
Fig. 3 is control method flow chart of the present invention；
Fig. 4 is trimaran lengthwise movement model structure of the present invention.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
High-speed trimaran pitching stabilization control method flow chart based on sliding moding structure convergence law is as shown in figure 3, specific
Flow is as follows：
(1) foundation of random seaway model：
Wave is considered as by a series of wave amplitudes, wavelength and initial phase different cosine wave superposition composition, wave
Instantaneous wave height can be expressed as：
Wherein, H is the mean height of the tide on sea, ζiIt is the wave amplitude for constituting ripple, kiIt is wave number, θiIt is composition direction of wave travel and x
The angle of axle, ωiIt is the angular frequency for constituting ripple, εiIt is the phase angle for constituting ripple, it is believed that be random in (0,2 π) interval
Variable, x is the width of instantaneous wave along the x-axis direction, and z is the height of instantaneous wave along the z-axis direction.
Sea level mean wave height H=0 is made in experiment, and it is fixed, can simplify Wave Model is：
Discretization is carried out using reasonable spectrometry：
Shown in rational spectrum is defined as follows：
Wherein, Sx(ω) is the power spectral density function of involved real stationary random process X (t), and P (ω) and Q (ω) are then
It is ω real polynomials and denominator order has to be higher than molecule.
Provided with reason wave to approach spectrum form as follows：
S=j ω are made, then：
From parameter estimation theories：
S(ωi)=Sx(ωi) (6)
Wherein, i=1,2, N, (N>2n) and S (ω) be wave power spectral density：
Wherein, A=8.10 × 10-3g2,It is to have adopted wave height, ω is wave circular frequency.
Above formula is substituted into (2) obtain wave final mask and be：
Wherein, εiRepresent the phase angle for constituting wave ripple, it is believed that be the stochastic variable in (0,2 π) interval, i.e. εi=
Rand (0,2 π), S (wi) it is wave in circular frequency wiThe power spectral density at place, N is sample number.
Provide SSN5 and SSN6 grades of random seaway model 3-D view example and see Fig. 1 (a) and Fig. 1 (b).
The input of wave module is clock, will be output as the input of module below.
(2) trimaran lengthwise movement modelling：
AQWA software modules first by ANSYS Workbench platforms are tested, and are eaten by mobility model regulation
Water, and because entity can not be calculated in AQWA, so carrying out taking out shell next for model, obtain one layer of outer surface
Thickness is set to 0 shell；Carry out carrying out cutting waterline, construction ship overall structure for high-speed trimaran again.It is then inserted into barycenter
After the radius of gyration is set：Kxx=0.163m, Kyy=0.807m, Kzz=0.807m.Circular frequency is finally set：40 are used in experiment
Section the speed of a ship or plane under circular frequency be respectively：0.42249rad/s, 0.56275rad/s, 0.69203rad/s, 0.81299rad/s,
0.92691rad/s, 1.03491rad/s, 1.18757rad/s, 1.42196rad/s, 1.63671rad/s.Obtained in emulation
Generation .DAT files are found in file, the hydrodynamic force coefficient a of trimaran is obtained after Aqwa16.0 is handledii、bii、cii。
As shown in Figure 4, the system design is divided into the transform portion of wave-power and the transform portion of power-angle, final defeated
What is gone out is the heaving height and pitch angular of trimaran longitudinal direction.
By high-speed craft pitching and heave coupled wave equation can be obtained up to bright Bel's theory：
The equation left side is the dynamic model of ship, and the right is the relation of wave and power, can derive that ship exists by the equation left side
Motion model under power effect, the right can derive stress model of the ship under wave effect.M in formula33It is ship quality, aij
It is additional mass of the seawater to ship, x3It is heave amount, bijIt is damped coefficient, cijIt is recovery coefficient, x5It is pitching amount, m55It is pitching
Moment of inertia, these hydrodynamic force coefficients are to be emulated to obtain according to the dimensional parameters of different trimarans on ANSYS platforms.Ft、Ff
And Mt、MfThe T-shaped wing and the lift and torque of wave suppression plate offer, F are provided respectivelywaveAnd MwaveRespectively wave acts on trimaran
On heaving perturbed force and pitching disturbance torque.
Different seas can be obtained according to equation (10) when trimaran is in different headways, different experience frequencies
The transmission function equation of wave-power, power-angle.When the selection speed of a ship or plane is 40 sections, wave is SSN5 grades, and experience frequency is 1.5rad/s
When, available transmission function equation is as follows：
Power-heaving：
Torque-heaving：
Power-pitching：
Torque-pitching：
(3) design of sliding moding structure module
The state space equation of the lengthwise movement linear differential equation of trimaran is expressed as：
In formula：It is dominant vector,Wherein x3WithFor heaving displacement and heaving speed,
x5WithIt is pitch angular and angular velocity in pitch.
Linear switching function is chosen accordingly：
S (x)=Cx (t) (14)
Design sliding-mode surface：Know have on sliding hyperplane according to sliding mode control theory：
S (x)=Cx=C1x1+C2x2=0 (15)
It can be exported by above formula on hyperplane：
The system sliding equation of obtaining is：
Lengthwise movement control system for trimaran sets up variable-structure control：
Using most widely used exponentially approaching rule:
Wherein：For exponential approach, then there is system state space equation can obtain：
It is introduced into after exponentially approaching rule and can obtain using the A in lengthwise movement system state space equation, B, C, D matrix as ginseng
Several sliding formwork control ratios, wherein the unknown only have C matrixes, compile platform using MATLAB, C squares are obtained using Method of Pole Placement
Battle array；
It can obtain variable-structure control：
Wherein：Parameter q size determines the speed of convergence tangential-hoop method speed, and its value is bigger, and speed is faster, but such as
It is really excessive and concussion can be caused；Parameter ε size decides the robust performance of system, and its value is bigger, and robustness is better, but buffets
Amplitude is also bigger and influences the stable state accuracy of system.
Softening processing is carried out to control law to prevent chattering phenomenon：
So obtaining final sliding formwork control ratio and being：
It is unique it is required to determine that Matrix C, and C ask for Method of Pole Placement can be used to pass through MATLAB programmings carry out
Realize, be in the different speed of a ship or plane in trimaran, and when meeting with frequency difference, the switching function square of different sliding moding structures can be obtained
Battle array C.
These switching function Matrix Cs are substituted into sliding formwork control ratio formula (23), you can obtain corresponding sliding moding structure three
Body ship lengthwise movement, which subtracts, shakes control method, so as to realize that trimaran lengthwise movement subtracts the Nonlinear Dynamic control shaken.
(4) subtract and shake attached body control module design
Parametrization solution is carried out using ANSYS 16.0, the speed of a ship or plane is fixed as 40 sections/hour, for the T-shaped wing and pressure in experiment
All order meets stream angle of attack knots modification as parameter for wave plate, and the input of the two is obtained after sliding mode controller processing vertical response
The adjustment angle arrived, this angle is the angle and the difference of present inflow angle degree needed, so the two is by sliding formwork control ratio
The lift and the computation model of torque that the angle change of offer is changed is：
Mt/f=da·Ft/f (25)
Wherein：ρ is density of sea water, 1.025 × 103kg/m3；A is the surface area of the T-shaped wing, m2；V is ship's speed, m/s；α is to subtract
Shake attached body and meet stream angle of attack knots modification (note：Effectively the meet stream angle of attack of the T-shaped wing in actual condition is made up of three parts, turn of the T-shaped wing
The additional angle that angle, the pitch angle of ship, and lengthwise movement are produced, and the pitch angle of high-speed craft has to the anti-rolling effect of the T-shaped wing and subtracts
There is enhancing effect at weak effect, additional angle to the anti-rolling effect of the T-shaped wing).CL(α) is lift coefficient, can be considered as during angle of attack very little
Constant, daVertical range between attached body installation site and center of gravity is shaken to subtract.For the realization of foregoing description in SIMULINK
Realization formula above need to be only combined using simple logical operation module.
By the adjustment power and torque-feedback obtained above that attached body offer is shaken by subtracting to trimaran lengthwise movement control system
In be superimposed upon in original power, subtract the realization for shaking closed-loop system so as to realize.
(5) specific steps that the high-speed trimaran lengthwise movement model based on sliding formwork is realized in MATLAB：
Implement and see Fig. 2.It is 40 sections to select the high-speed trimaran speed of a ship or plane, when SSN5 grades of wave ξ (t) are as input, warp
Cross and heaving power F is obtained after wave-power/torque resume module3With pitching power F5, as trimaran lengthwise movement model Li-hang down
/ the input of pitching module is swung, heaving x is obtained3With pitching x5And their change accelerationWithUsing this four amount as
The input of sliding mode controller, obtains subtracting and shakes the T-shaped wing of attached body and wave suppression plate after the processing based on Reaching Law sliding-mode control
The knots modification α that the stream angle of attack needs is met, as input after subtracting and shaking attached body motion module this knots modification is obtained into two kinds subtracted to shake attached
The longitudinal force and torque that body provides for trimaran are respectively Ft、FfAnd Mt、Mf, and as feedback quantity be applied to power-heaving/
Before pitching module, high-speed trimaran lengthwise movement stability contorting is realized.
Claims (5)
1. a kind of high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law, it is characterized in that：Including as follows
Step：
Step one：The random seaway model of different stage is designed according to international meteorological office wave standard；
Step 2：Using random seaway model, trimaran hydrodynamic force coefficient is obtained using ANSYS Platform Analysis, further according to hydrodynamic(al)
Force coefficient sets up high-speed trimaran lengthwise movement mathematical modeling, obtains high-speed trimaran longitudinal motion response heaving height and pitching
Angle；
Step 3：Using above-mentioned high-speed trimaran longitudinal motion response heaving height and pitch angular, design based on Reaching Law
Sliding mode control law, obtains control output inflow angle degree knots modification；
Step 4：The lift and Calculating Torque during Rotary model for subtracting and shaking the T-shaped wing of attached body and wave suppression plate are set up, attached body inflow angle degree is shaken using subtracting
Knots modification, which obtains subtracting, shakes longitudinal force and torque that attached body provides for trimaran, and feedback effect is in high-speed trimaran lengthwise movement system
System.
2. the high-speed trimaran pitching stabilization control method according to claim 1 based on sliding moding structure convergence law, its
It is characterised by：
Random seaway model described in step one is specially：
(1) according to the corresponding different significant wave height H of different stage wave and frequency range of international meteorological organization prescribed, use
The foundation of the random seaway model of MATLAB programming realization different stages；
(2) model, which is set up, is based on reasonable spectrometry, shown in the rational spectrum of design is defined as follows：
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εiRepresent the phase angle for constituting wave ripple, it is believed that be the stochastic variable in (0,2 π) interval, i.e. εi=rand (0,2 π), S
(wi) wave is in circular frequency wiThe power spectral density at place, N is sample number；
(3) input of wave module is clock, will be output as the input of module below.
3. the high-speed trimaran pitching stabilization control method according to claim 1 based on sliding moding structure convergence law, its
It is characterised by：
Trimaran lengthwise movement model described in step 2 is specially：
(1) trimaran hydrodynamic force coefficient under the different speed of a ship or plane is obtained using ANSYS Platform Analysis；
(2) according to trimaran is in the marine speed of a ship or plane, Wave Model and meets with frequency, MATLAB platforms " ss2tf " function is used
Realized the specific decoupling to trimaran lengthwise movement model and solution.
4. the high-speed trimaran pitching stabilization control method according to claim 1 based on sliding moding structure convergence law, its
It is characterised by：
The sliding mode control law based on Reaching Law described in step 3 is specially：
(1) the lengthwise movement control system variable-structure control of trimaran is set up：
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Exponentially approaching rule is designed as:
Wherein：For exponential approach；
Obtain variable-structure control：
(2) softening processing is carried out to control law：
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Wherein, ξ is a small integer independently selected；
The sliding mode control law based on Reaching Law finally given is：
Wherein, the robust performance of parameter ε decision systems, is worth bigger robust performance better；Parameter q determines that control system is moved closer to
The speed of hyperplane, q is bigger, and the speed of system convergence is faster, and A, B are systematic observation matrix, and C is control matrix to be asked, can
Platform is compiled by using MATLAB, tried to achieve using Method of Pole Placement, ξ is a small integer independently selected.
5. the high-speed trimaran pitching stabilization control method according to claim 1 based on sliding moding structure convergence law, its
It is characterised by：
Subtracting described in step 4 shakes the lift and Calculating Torque during Rotary model of the T-shaped wing of attached body and wave suppression plate：
Inflow angle degree knots modification and to should angle be between the power that trimaran is longitudinally provided be a non-linear relation, simultaneously
The corresponding torque of the power is arrived：
MT/F=da·FT/F
In formula：ρ is density of sea water, 1.025 × 103kg/m3；A is the projected area of the T-shaped wing or wave suppression plate, and V is ship's speed；α is to subtract
Shake attached body and meet stream angle of attack knots modification；CL(α) is to subtract the lift coefficient for shaking attached body, and constant can be typically considered as in angle of attack very little,
daFor the vertical range between T-shaped wing installation site and center of gravity；Ft、FfAnd Mt、MfThe liter that the T-shaped wing and wave suppression plate are provided is represented respectively
Power and torque.
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| CN108909964A (en) * | 2018-04-25 | 2018-11-30 | 哈尔滨工程大学 | A kind of ship stabilization controller method for handover control to navigate under state more |
| CN109334892A (en) * | 2018-09-20 | 2019-02-15 | 江苏大学 | A kind of simplification robust adaptive pitching stabilization control method of multi-hull ship |
| CN109766569A (en) * | 2018-11-23 | 2019-05-17 | 中国船舶重工集团公司第七一九研究所 | Submarine movement Model Simplification Method and device |
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| CN110456809B (en) * | 2019-07-30 | 2022-07-15 | 哈尔滨工程大学 | Design method of variable-structure integrated controller for reducing AUV (autonomous Underwater vehicle) rolling and pitching |
| CN111498037A (en) * | 2020-04-05 | 2020-08-07 | 哈尔滨工程大学 | High-speed catamaran longitudinal stabilization method based on variable structure active disturbance rejection control |
| CN112068437A (en) * | 2020-09-17 | 2020-12-11 | 哈尔滨工程大学 | Single-step prediction control anti-rolling method for high-speed multi-hull ship |
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