CN108263568B - A kind of adaptive magnetic suspension stabilizer based on frequency modulation and subtracts and shake control method - Google Patents
A kind of adaptive magnetic suspension stabilizer based on frequency modulation and subtracts and shake control method Download PDFInfo
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- CN108263568B CN108263568B CN201810062714.3A CN201810062714A CN108263568B CN 108263568 B CN108263568 B CN 108263568B CN 201810062714 A CN201810062714 A CN 201810062714A CN 108263568 B CN108263568 B CN 108263568B
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- controller
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- subtracts
- mass block
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- 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
Abstract
A kind of adaptive magnetic suspension stabilizer based on frequency modulation, the adaptive magnetic suspension stabilizer of the application is mounted on hull, a pair of of electromagnet stator is respectively installed in two side stands of the hull, each pair of electromagnet stator setting symmetrical above and below, there is one to subtract between each pair of electromagnet stator and shakes mass block, sensor is provided with above the lower section of top electromagnet stator and lower section electromagnet stator, sensor alignment, which subtracts, shakes mass block, the winding of electromagnet stator connects power amplifier by connecting line, power amplifier connects controller, the position signal of controller receiving sensor feedback, controller is reference value adaptive controller.The present invention uses reference value self adaptive control, by controlled device, resulting self adaptive control error-driven self-adaptive regulator, adjusting controller parameter reduce systematic error compared with reference value, finally the reality output of controlled device is made to reach desired output, to realize anti-rolling effect.
Description
Technical field
The present invention relates to subtracting to shake mating field, more particularly to a kind of adaptive magnetic suspension stabilizer based on frequency modulation and
Subtract and shakes control method.
Background technique
People start from the mid-eighteenth century to the research of Ship Swaying problem, and since in the middle of the 19th century, ship is from razshiva
Development is after power ship, Ship Rolling Damping is greatly reduced, and rolling is serious, has begun to the effort and struggle of ship stabilization, preceding
More than 350 different types of stabilizers are proposed altogether afterwards, wherein be used to practice is several up to 20.Until currently, retaining
The ship stabilizer come mainly has bilge keelson, tank stabilizer, stabilizer, subtracts and shake gyro, rudder stabilization, subtract that shake pouring weight etc. several
Kind.Ship subtracts the demand of shaking and can be satisfied by mentioned-above several stabilizers at present, but with the hair of marine technology
Exhibition, more novel ship types are developed, and the traditional stabilizer of the above, which is just difficult to be competent at subtracting for many new herbicides, to be shaken
Task and safety, airworthiness, sea-keeping requirement.
Summary of the invention
To solve the above problems, the present invention provide a kind of adaptive magnetic suspension stabilizer based on frequency modulation and
Subtract and shake control method, is subtracted by iron core and electromagnetic coil (stator) and inertia and shake mass block (rotor) and its control system forms,
Middle stationary part is fixed on ship, and rotor, that is, inertia, which subtracts, to be shaken mass block and be suspended in stable state up and down between stator.It adopts
With reference value self adaptive control, the resulting self adaptive control error-driven automatic adjusument compared with reference value by controlled device
Device, adjusting controller parameter, reduces systematic error, and the reality output of controlled device is finally made to reach desired output, thus real
Existing anti-rolling effect, for this purpose, the present invention provides a kind of adaptive magnetic suspension stabilizer based on frequency modulation, including control
Device, sensor, subtracts and shakes mass block and electromagnet stator power amplifier, and the adaptive magnetic suspension stabilizer is mounted on ship
Body is respectively equipped with a pair of of electromagnet stator in two side stands of the hull, and each pair of electromagnet stator setting symmetrical above and below is each pair of
There is one to subtract between electromagnet stator and shake mass block, is all provided with above the lower section of top electromagnet stator and lower section electromagnet stator
It is equipped with sensor, the sensor alignment, which subtracts, shakes mass block, and the winding of the electromagnet stator connects power amplification by connecting line
Device, the power amplifier connect controller, and the position signal of the controller receiving sensor feedback, the controller is reference
It is worth adaptive controller, the controller includes self adaptive control adjuster, adjusting controller and feedback regulator, the feedback
Self adaptive control adjuster and adjusting controller, the self adaptive control adjuster are fed back to after adjuster receiving sensor signal
According to feedback regulator is fed back to after reference value and feedback signal processing, the adjusting controller based on the feedback signal controls adjusting
Device parameter processed is adjusted.
The further improvement of stabilizer of the present invention, the electromagnet stator are fixed by gasket, the spacer thickness point
It Wei not 2mm or 3mm or 4mm.
The present invention is based on the stabilization method of the adaptive magnetic suspension stabilizer of frequency modulation,
When hull is by disturbance counterclockwise, that is, rolling counterclockwise, inertia, which subtracts, shakes mass block due to effect of inertia, will protect
Hold that its spatial position is constant, therefore left and right inertia subtracts the position change for shaking mass block relative stator part, to stationary part, that is, ship
Body generates clockwise moment, meanwhile, sensor detects change in location, sends change in location to control by reference to signal
Device then changes inertia and subtracts the acceleration for shaking mass block, because of inertia force to change stator currentAndTherefore:
F=-m ω2x0sinωt；
Wherein m subtracts for inertia shakes mass block quality, and ω is perturbed force frequency, x0For inertial mass initial displacement.
Know that inertia force will also change, to generate clockwise when inertia subtracts the acceleration change for shaking mass block from above
Torque reduces hull rolling, and hull is made to keep balance；
When hull is rolling clockwise by clockwise disturbance, inertia, which subtracts, shakes mass block due to effect of inertia, will protect
Hold that its spatial position is constant, therefore left and right inertia subtracts the position change for shaking mass block relative stator part, to stationary part, that is, ship
Body generates anticlockwise moment, meanwhile, sensor detects change in location, sends change in location to control by reference to signal
Device then changes inertia and subtracts the acceleration for shaking mass block, because of inertia force to change stator currentAndTherefore:
F=-m ω2x0sinωt；
Know that inertia force will also change when inertia subtracts the acceleration change for shaking mass block from above, to generate counterclockwise
Torque reduces ship rolling, and ship is made to keep balance.
The further improvement of stabilization method of the present invention, in controller control process:
Pass through controlled device, that is, adaptive magnetic suspension stabilizer output y firstpWith reference value ymCompare, obtains adaptive
Error e should be controlledm；
Then self adaptive control error e is usedmSelf-adaptive regulator is driven, the parameter after adjusting is changed by feedback regulator
Modified tone section controller parameter and adjusting controller export u, reduce systematic error；
Finally make the reality output y of controlled devicepReach desired output, wherein seawater frequency is system reference input, i.e.,
Ir, ypFor controlled device output, ymFor reference model output, u is that the control of controlled device inputs, and e is systematic error, emFor certainly
Suitable solution error.
The present invention, which provides a kind of adaptive magnetic suspension stabilizer based on frequency modulation and subtracts, shakes control method, works as external disturbance
When power frequency changes, magnetic suspension stabilizer structural parameters or control system parameter are adjusted, it is fixed such as to change magnetic suspension stabilizer
Subcoil bias current or breath gap size and by adaptive control algorithm, make magnetic suspension subtract the intrinsic frequency for shaking mass block
It is equal always or close with external disturbance power frequency, to reach good anti-rolling effect.Magnetic suspension stabilization method application of the present invention
When on ship, as long as subtracting magnetic suspension, to shake mass block same or similar with wave frequencies, be under any speed of a ship or plane zero power test,
Can all have good anti-rolling effect under the low speed of a ship or plane and the high speed of a ship or plane.
Detailed description of the invention
Fig. 1 is composition figure of the present invention；
Fig. 2 is operation schematic diagram of the present invention；
Fig. 3 is Control system architecture block diagram of the present invention；
Component in figure are as follows:
1, sensor；2, subtract and shake mass block；3, electromagnet stator；4, hull.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
The present invention, which provides a kind of adaptive magnetic suspension stabilizer based on frequency modulation and subtracts, shakes control method, by iron core and electricity
Magnetic coil (stator) and inertia, which subtract, shakes mass block (rotor) and its control system composition, and wherein stationary part is fixed on ship,
Rotor, that is, inertia, which subtracts, to be shaken mass block and is suspended in stable state up and down between stator.Using reference value self adaptive control, pass through
Controlled device resulting self adaptive control error-driven self-adaptive regulator, adjusting controller parameter compared with reference value, make be
Error of uniting reduces, and so that the reality output of controlled device is reached desired output, to realize anti-rolling effect.
As an embodiment of the present invention, the present invention provides a kind of adaptive magnetic suspension stabilizer based on frequency modulation, packet
Controller is included, power amplifier, sensor 1, subtracts and shakes mass block 2 and electromagnet stator 3, the adaptive magnetic suspension stabilizer
It is mounted on hull 4, a pair of of electromagnet stator 3, each pair of about 3 electromagnet stator are respectively installed in two side stands of the hull 4
It is symmetrical arranged, there is one to subtract between each pair of electromagnet stator 3 and shake mass block 2, the lower section of top electromagnet stator 3 and lower section electromagnetism
The top of iron stator 3 is provided with sensor 1, and the alignment of sensor 1, which subtracts, shakes mass block 2, the winding of the electromagnet stator 3
Power amplifier is connect by connecting line, the power amplifier connects controller, the reference that the controller receiving sensor 1 is fed back
Signal, the controller are reference value adaptive controller, and the controller includes self adaptive control adjuster, adjusting controller
And feedback regulator, self adaptive control adjuster is fed back to after 1 signal of feedback regulator receiving sensor and adjusts control
Device, the self adaptive control adjuster feed back to feedback regulator, the adjusting control after handling according to reference value and feedback signal
Device processed is based on the feedback signal adjusted adjusting controller parameter.
The present invention provides composition figure as shown in Figure 1, operation schematic diagram is as shown in Fig. 2, Control system architecture block diagram such as Fig. 3 institute
Show.The magnetic suspension stabilizer stator 3 is made of iron core and electromagnetic coil (stator), is divide into upper part and lower part, solid respectively
It is scheduled on hull 4, sensor 1 is fixed on the intermediate position of stator 3.Inertia, which subtracts, shakes mass block 2 in normal work, is suspended in
Between lower stator.Assuming that when ship is by disturbance counterclockwise, that is, rolling counterclockwise, as shown in Fig. 2, inertia subtract shake mass block 2 by
In effect of inertia, its spatial position will be kept constant, therefore left and right inertia subtracts and shakes the position of 3 part of mass block relative stator and change
Become, clockwise moment is generated to stationary part, that is, hull, meanwhile, sensor 1 detects roll angle, and roll angle is passed through ginseng
It examines signal and sends controller to, to change the solenoid current of stator 3, then change inertia and subtract the acceleration for shaking mass block 2
Degree, because of inertia forceAndTherefore
F=-m ω2x0sinωt
Know that inertia force will also change, to generate clockwise when inertia subtracts the acceleration change for shaking mass block 2 from above
Torque reduces ship rolling, and ship is made to keep balance.Vice versa (assuming that ship will be generated the inverse time by clockwise disturbance
Needle force square makes ship keep balance).
The present invention is based on the adaptive magnetic suspension stabilizer of frequency modulation, the displacement rigidity system of mass block is shaken because magnetic suspension subtracts
Number:
When coil turn, the magnetic for changing magnetic suspension stabilizer stator 3
Pole size, bias current size, or change magnetic suspension stabilizer stator 3 and inertia and subtract between the breath for shaking mass block 2
When gap size, displacement rigidity coefficient will be changed correspondingly, and then subtract the intrinsic frequency for shaking mass block 2 also by change.When a device
After carrying out, coil turn, magnetic pole size cannot change substantially.The present invention is using change bias current size or breath gap
The method of size changes displacement rigidity coefficient.
The present invention is by changing the spacer thickness between shell and cover board, so that device breath gap size is adjustable, gasket is thick
Degree is respectively 2mm, 3mm and 4mm.
The present invention uses reference value self adaptive control, passes through controlled device, that is, experimental provision output y firstpAnd reference value
ymCompare, obtains self adaptive control error em, then use self adaptive control error emDrive self-adaptive regulator, the ginseng after adjusting
Number changes adjusting controller parameter and adjusting controller exports u, reduce systematic error by feedback regulator, finally make by
Control the reality output y of objectpReach desired output, as shown in Figure 3.Wherein seawater frequency is system reference input, i.e. Ir, ypFor
Controlled device output, ymFor reference model output, u is that the control of controlled device inputs, and e is systematic error, emFor self adaptive control
Error.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and made any modification or equivalent variations according to the technical essence of the invention, still fall within present invention model claimed
It encloses.
Claims (4)
1. a kind of adaptive magnetic suspension stabilizer based on frequency modulation, including controller, power amplifier, sensor (1), subtracts and shake
Mass block (2) and electromagnet stator (3), the adaptive magnetic suspension stabilizer are mounted on hull (4), it is characterised in that: institute
It states and is respectively equipped in two side stands of hull (4) a pair of of electromagnet stator (3), the setting symmetrical above and below of each pair of electromagnet stator (3),
There is one to subtract between each pair of electromagnet stator (3) to shake mass block (2), the lower section of top electromagnet stator (3) and lower section electromagnet
It is provided with above stator (3) sensor (1), sensor (1) alignment, which subtracts, shakes mass block (2), the electromagnet stator
(3) winding connects power amplifier by connecting line, and the power amplifier connects controller, the controller receiving sensor
(1) position signal fed back, the controller are reference value adaptive controller, and the controller includes that self adaptive control is adjusted
Device, adjusting controller and feedback regulator feed back to self adaptive control tune after feedback regulator receiving sensor (1) signal
Device and adjusting controller are saved, the self adaptive control adjuster feeds back to feedback regulation after handling according to reference value and feedback signal
Device, the adjusting controller are based on the feedback signal adjusted adjusting controller parameter.
2. a kind of adaptive magnetic suspension stabilizer based on frequency modulation according to claim 1, it is characterised in that: the electricity
Magnetic stator (3) is fixed by gasket, and the spacer thickness is respectively 2mm or 3mm or 4mm.
3. the stabilization method of the adaptive magnetic suspension stabilizer according to claim 1 or 2 based on frequency modulation, feature exist
In:
When hull (4) is by disturbance counterclockwise, that is, rolling counterclockwise, inertia, which subtracts, shakes mass block due to effect of inertia, will keep
Its spatial position is constant, therefore left and right inertia subtracts the position change for shaking mass block relative stator part, to stationary part, that is, hull
Clockwise moment is generated, meanwhile, sensor detects change in location, change in location is sent to controller by reference to signal,
To change stator current, then changes inertia and subtract the acceleration for shaking mass block, because of inertia force
AndTherefore:
F=-m ω2x0sinωt；
Wherein m subtracts for inertia shakes mass block quality, and ω is perturbed force frequency, x0For inertial mass initial displacement, t subtracts for inertia
Shake the time；
Know that inertia force will also change when inertia subtracts the acceleration change for shaking mass block from above, so that clockwise torque is generated,
Reduce hull (4) rolling, hull (4) is made to keep balance；
When hull (4) is rolling clockwise by clockwise disturbance, inertia, which subtracts, shakes mass block due to effect of inertia, will keep
Its spatial position is constant, therefore left and right inertia subtracts the position change for shaking mass block relative stator part, to stationary part, that is, hull
Anticlockwise moment is generated, meanwhile, sensor detects change in location, change in location is sent to controller by reference to signal,
To change stator current, then changes inertia and subtract the acceleration for shaking mass block, because of inertia force
AndTherefore:
F=-m ω2x0sinωt；
Know that inertia force will also change when inertia subtracts the acceleration change for shaking mass block from above, so that torque counterclockwise is generated,
Reduce ship rolling, ship is made to keep balance.
4. the stabilization method of the adaptive magnetic suspension stabilizer according to claim 3 based on frequency modulation, it is characterised in that:
In controller control process:
Pass through controlled device, that is, adaptive magnetic suspension stabilizer output y firstpWith reference value ymCompare, obtains self-adaptive controlled
Error e processedm；
Then self adaptive control error e is usedmSelf-adaptive regulator is driven, the parameter after adjusting is changed and adjusted by feedback regulator
Controller parameter and adjusting controller export u, reduce systematic error；
Finally make the reality output y of controlled devicepReach desired output, wherein seawater frequency is system reference input, i.e. Ir, yp
For controlled device output, ymFor reference model output, u is that the control of controlled device inputs, and e is systematic error, emIt is self-adaptive controlled
Error processed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810062714.3A CN108263568B (en) | 2018-01-23 | 2018-01-23 | A kind of adaptive magnetic suspension stabilizer based on frequency modulation and subtracts and shake control method |
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| CN201810062714.3A CN108263568B (en) | 2018-01-23 | 2018-01-23 | A kind of adaptive magnetic suspension stabilizer based on frequency modulation and subtracts and shake control method |
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| CN108263568B true CN108263568B (en) | 2019-09-03 |
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| CN112078741B (en) * | 2020-09-17 | 2022-03-11 | 金陵科技学院 | Three-ring self-adaptive magnetic suspension active driving mass block stabilization device and control method thereof |
| CN112407963A (en) * | 2020-11-27 | 2021-02-26 | 江山志诚科技有限公司 | Wood loading and conveying device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10184782A (en) * | 1996-12-26 | 1998-07-14 | Tokimec Inc | Swing reducing device |
| CN104343885A (en) * | 2013-08-09 | 2015-02-11 | 上海微电子装备有限公司 | High-precision magnetic suspension active damping equipment |
| CN205469741U (en) * | 2016-04-07 | 2016-08-17 | 山东省科学院海洋仪器仪表研究所 | Marine propulsion and anti -sway device and boats and ships |
| CN106337893A (en) * | 2016-10-08 | 2017-01-18 | 中国船舶重工集团公司第七〇九研究所 | Magnetic resistance type electromagnetic active vibration isolator |
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2018
- 2018-01-23 CN CN201810062714.3A patent/CN108263568B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10184782A (en) * | 1996-12-26 | 1998-07-14 | Tokimec Inc | Swing reducing device |
| CN104343885A (en) * | 2013-08-09 | 2015-02-11 | 上海微电子装备有限公司 | High-precision magnetic suspension active damping equipment |
| CN205469741U (en) * | 2016-04-07 | 2016-08-17 | 山东省科学院海洋仪器仪表研究所 | Marine propulsion and anti -sway device and boats and ships |
| CN106337893A (en) * | 2016-10-08 | 2017-01-18 | 中国船舶重工集团公司第七〇九研究所 | Magnetic resistance type electromagnetic active vibration isolator |
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