CN108820155A - The ship gyro based on Fuzzy Immune Controller, which subtracts, under a kind of low speed of a ship or plane shakes control method - Google Patents
The ship gyro based on Fuzzy Immune Controller, which subtracts, under a kind of low speed of a ship or plane shakes control method Download PDFInfo
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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
- B63B39/04—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using gyroscopes directly
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
Subtract the invention discloses the ship gyro based on Fuzzy Immune Controller under a kind of low speed of a ship or plane and shake control method, belongs to technical field of ships.Including：Establish random seaway model；The ship model under low speed of a ship or plane state is established, under the action of random seaway, the roll angle of corresponding ship is obtained by measuring cell；The total model of system is established, using the parameter of fuzzy immune control method optimal controller, the signal function that measuring cell is obtained generates corresponding control signal on the controller；Single-gimbal control momentum gyro kinetic model is established, and two anti-rolling gyroscopes is used subtract shaking for a working group, the signal function that controller is provided is on gyroscopic apparatus, and then gyro generates corresponding torque and goes to offset the interference of wave；Simulation model is built in the SIMULINK of MATLAB, verifies anti-rolling effect.
Description
Technical field
The invention belongs to technical field of ships, and in particular to the ship top based on Fuzzy Immune Controller under a kind of low speed of a ship or plane
Spiral shell, which subtracts, shakes control method.
Background technique
In ship's manoeuverability, ship motion controller is always one of key problem.Wherein rolling is that ship is caused to shake
One of main reason.The interference of wave causes the use of ship to receive huge limitation, the meeting in billow of one side ship
There is the danger of shipwreck.
Control-moment gyro stabilizer in the present invention, it is only necessary to be input into a small torque allow gyroscopic apparatus generate into
Dynamic, then very big torque can be exported, this makes it possible to the rolling motions for inhibiting ship.Anti-rolling gyroscope occupies simultaneously
Space is small, easy for installation, and people is most allowed to cause to be concerned with it and also can produce particularly preferred anti-rolling effect under the low speed of a ship or plane of ship.
Summary of the invention
The object of the present invention is achieved like this：
The ship gyro based on Fuzzy Immune Controller, which subtracts, under a kind of low speed of a ship or plane shakes control method, which is characterized in that includes
Following steps：
Step 1 establishes random seaway model；
The random seaway model is：
Random seaway model on the water surface is established based on the ITTC two-parameter wave providedFor：
In formula：h1/3It is the ariyoshi wave height of wave, T is eigenperiod, and ω is angular frequency
Underwater wave amplitudeSize as the increase of the depth of water is that exponentially function rule declines, meet：
In formula：Z is the depth of water, ζaiFor the wave amplitude of i-th harmonic wave, ωiFor the angular frequency of i-th harmonic wave, εiFor i-th harmonic wave
Initial phase, δ be 2 π/λ, wherein λ indicate wavelength；
The ship model that step 2 is established under low speed of a ship or plane state is obtained under the action of random seaway by measuring cell
The roll angle of corresponding ship；
The ship model is：
Wherein：
IxFor ship rolling rotary inertia, unit：kg·m2,
ΔIxFor ship additional rotation inertia, unit：kg·m2,
D is vessel displacement, unit：kg·m2/ s,
H is that ship Transverse Metacenter is high, unit：M,
The rolling of ship only natural period：
Wherein NuFor Ship Rolling Damping coefficient；
Step 3 establishes the total model of system, using the parameter of fuzzy immune control method optimal controller, by measuring cell
Obtained signal function generates corresponding control signal on the controller；
Step 4 establishes single-gimbal control momentum gyro kinetic model, and uses two anti-rolling gyroscopes for a work
Subtract shaking as group, the signal function that controller is provided is on gyroscopic apparatus, and then gyro generates corresponding torque and goes to offset
The interference of wave；
The single-gimbal control momentum gyro kinetic model is：
In formula：MξFor the torque in ξ axis direction, MηFor the torque in η axis direction,ForTorque in axis direction, h0
For constant, β is ξ axis and z-axis angle,It is frame coordinates system O-xyz around the rotation angle of OZ axis；
Step 5 builds simulation model in the SIMULINK of MATLAB, verifies anti-rolling effect；
The simulation model model meets condition：
Select the speed of a ship or plane for 3kn, ariyoshi wave height is 1 meter, and wave encounter angle is respectively 45 degree, 90 degree 135 degree；Ariyoshi wave height is 2m,
Wave encounter angle is respectively 45 °, 90 °, 135 degree；Ariyoshi wave height is 4 meters, and wave encounter angle is respectively 45 degree, 90 degree；Controller uses fuzzy
Immunocontroller is emulated.
Compared with prior art, advantage of the invention is that：
Under random seaway interference, the movement of ship can be described as heaving, surging, in addition the movement of the lines such as swaying is also wrapped
Include rolling, pitching, head shake equal angular movement.Because roll damping is small, then the wave interference that ship is subject in rolling is maximum
's.That is the research contents that ship rolling inhibits becomes the most abundant research contents naturally.The side of ship stabilization
Method is innumerable, and presently mainly gyro, which subtracts, shakes, stabilizer, and sump, which subtracts, to be shaken etc..
It carries out subtracting to shake using anti-rolling gyroscope having many good qualities, compared with prior art, ship most of first
Work especially works in shallow water area under the low speed of a ship or plane, and common stabilizer is to stretch out hull, is at this time possible to occur
Collision, subtract with anti-rolling gyroscope shaking, so that it may greatly reduce the danger of this respect.Compared with tank stabilizer, row
Water, weight accounting are all far smaller than tank stabilizer, and main is anti-rolling effect better than tank stabilizer.And anti-rolling gyroscope
It occupies little space, it is easy for installation, it is most important that also to can produce particularly preferred anti-rolling effect under ship zero power test.
Detailed description of the invention
Fig. 1 is the block diagram of system；
Fig. 2 is the waveform diagram not distorted；
Fig. 3 is single frame control force according to gyro simple graph；
Fig. 4 is that ariyoshi wave is 1 meter, speed of a ship or plane 3kn, and wave encounter angle is the analogous diagram of comparison before and after 45 degree of ship stabilizations；
Fig. 5 is that ariyoshi wave is 1 meter, speed of a ship or plane 3kn, and wave encounter angle is the analogous diagram of comparison before and after 90 degree of ship stabilizations；
Fig. 6 is that ariyoshi wave is 2 meters, speed of a ship or plane 3kn, and wave encounter angle is the analogous diagram of comparison before and after 45 degree of ship stabilizations；
Fig. 7 is that ariyoshi wave is 2 meters, speed of a ship or plane 3kn, and wave encounter angle is the analogous diagram of comparison before and after 90 degree of ship stabilizations.
Specific embodiment
The present invention is described in more detail with subordinate list with reference to the accompanying drawing：
In ship's manoeuverability, ship motion controller is always one of key problem.Wherein rolling is that ship is caused to shake
One of main reason.The interference of wave causes the use of ship to receive huge limitation, the meeting in billow of one side ship
There is the danger of shipwreck, so, in order to avoid stormy waves bring risk, ship has to stop port in the case where stormy waves is very big, especially
It has high sea appearance, this just greatly limits the use scope of ship at deep-sea at any time.On the one hand, the structure meeting of ship
It is vibrated and is made a very bad impression due to caused by stormy waves, such as fatigue damage, greatly limit the service life of ship.Also,
Ship rolling motion caused by wave psychology to passenger and crew member and can physiologically cause very big discomfort.Especially work as
When loading vessel has to especially sensitive precision instrument or weapons and ammunitions is vibrated, ship stabilization just seems of crucial importance.
Under random seaway interference, the movement of ship can be described as heaving, surging, in addition the movement of the lines such as swaying is also wrapped
Include rolling, pitching, head shake equal angular movement.Because roll damping is small, then the wave interference that ship is subject in rolling is maximum
's.That is the research contents that ship rolling inhibits becomes the most abundant research contents naturally.The side of ship stabilization
Method is innumerable, and presently mainly gyro, which subtracts, shakes, stabilizer, and sump, which subtracts, to be shaken etc..Compared with subtracting and shaking sump, anti-rolling gyroscope
Volume is in contrast smaller, and easy for installation.Compared with stabilizer, subtracts and shake gyro and there is no ship epimorph, in any speed of a ship or plane
Section, which can subtract, shakes；Compared with tank stabilizer, displacement, weight accounting are all far smaller than tank stabilizer, while subtracting and shaking effect
Fruit has little effect vessel stability also superior to tank stabilizer, and the pattern of hull is influenced little.
The control-moment gyro stabilizer designed in the present invention, principle is that the rotor of gyro is allowed to run at high speed, to produce
The raw big moment of momentum.In a device, it is only necessary to be input into a small torque and gyroscopic apparatus is allowed to generate precession, then can export
Very big torque, this makes it possible to the rolling motions for inhibiting ship.Anti-rolling gyroscope occupies little space simultaneously, easy for installation,
People is most allowed to cause to be concerned with it and also can produce particularly preferred anti-rolling effect under ship zero power test.
For the ship navigated by water on random sea, it is vital for reducing rolling motion, because this will affect
The safety of ship, the normal operating of airworthiness, the comfort of occupant and equipment on board.Ship based on control-moment gyro
Stabilizer is exported using the moment of momentum of the high speed rotor of gyro, inputs a small torque to generate precession, so that it may obtain
The output torque that must amplify, thus to inhibit the rolling motion of ship, and occupy little space, it is easy for installation, it is most important that
Largely work especially works in shallow water area most of ship under the low speed of a ship or plane, and common stabilizer is to stretch out hull, this
When be possible to collide, so in order to reduce rolling motion, it may be considered that subtract with anti-rolling gyroscope shaking.And
And subtract and shake gyro compared with tank stabilizer, displacement, weight accounting are all far smaller than tank stabilizer, and main is anti-rolling effect
Better than tank stabilizer.The present invention devises the structure and working method of gyro ship-stabilizer first, while establishing its number
Learn model.Finally establish the combined power model of ship and anti-rolling gyroscope.According to the connection of ship and anti-rolling gyroscope
Close kinetic model, propose fuzzy immune control algorithm, using certain ship be research object carry out modeling and simulating, study designed by not
With the rolling inhibitory effect of ship stabilizer under sea situation.
Specific embodiment one：
(1) foundation of random seaway model
In third International Ship Structures Congress, the wave spectrum uniformly used is the two-parameter wave spectrum of ITTC, can be simulated
Carry out the non-wave sufficiently grown up, wave of the invention is also the wave spectrum with this wave.
So far from last century the fifties, many oceanographers and relevant engineer constantly go to probe into wave
It practises, under random case, enough samplings is carried out to common wave and observes and analyzes, the spectrum for having obtained characterization wave is close
Degree.This wave is two-dimentional long crested waves random seaway model, is also known as long crested waves or binary irregular water wave, this wave
Direction of running quickly is transmitted, its trough and wave crest be it is parallel to each other, direction is perpendicular to the advance side of wave
To.This model obtains most scientists and the approval of scholar.On ITTC in 1969, it is bis- that someone with regard to this proposes ITTC
Parameter wave spectrum, this wave spectrum are with ariyoshi wave height and eigenperiod as 2 parameters of wave spectrum, this wave spectrum expression formula is such as
Under：
Wherein, T1Indicate the average period of wave, h1/3Indicate the ariyoshi wave height of wave, ω is angular frequency.
It is well known that wave be all in time and spatially it is probabilistic, can be from the theory of random process
It learns, the wave in the maturity period can be subjected to abbreviation, be processed into the stationary random process of zero-mean.In view of practical application is asked
The problems in topic and emulation, number of values very little in higher hamonic wave calculate for convenience, can ignore higher hamonic wave, then long
Spike wave be able to carry out write a Chinese character in simplified form into it is following：
Wherein, ζaiFor the amplitude of wave harmonic wave, εiIndicate phase, this is a stochastic variable, be evenly distributed on 0~2 π it
Between.Wave encounter angle ω i=ω-kucos (χ), wherein k is wave number, and u is the speed of a ship or plane of ship.
For the simulation process of random seaway, the present invention is proceeded as follows：
1. deciding the spectrum shape of emulation wave first, having already described above, the present invention uses the two-parameter spectrum of ITTC,
Then some parameters of wave required for deciding：Wave wave encounter angle, ariyoshi wave height value, speed of a ship or plane size etc..
2. then according to etc. energy methods or at equal intervals then method or other principle, discretization Wind Wave Spectra are decided
The amplitude ζ of corresponding harmonic wave under some frequencyai, the first phase of wave is then decided by the distribution of the preliminary examination phase of each harmonic wave
Position.
3. being superimposed the value of each harmonic wave, it will be able to the random seaway emulated after calculating each harmonic wave.
4. although the Wind Wave Spectra for having to obtain in the inspection present invention is the present invention has obtained the wave of emulation
It does not meet the requirements：The wave of discretization emulation first, is then compared for frequency spectrum by Fast Fourier Transform, is passed through
It is required that Wind Wave Spectra compared with the frequency spectrum obtained by Fourier analysis, analytical error.If error is huge, then repairing
The some parameters for changing wave in simulated program carry out aforesaid operations, and until error reaches requirement of the invention, output is set
The wave figure of the emulation needed in meter.
(2) transmission function of the ship model under low speed of a ship or plane state：
Under the interference of wave, when ship advances in water, ship itself can occur various to sway movement.Pitching,
Three kinds of rolling, yawing angular displacements are most apparent in oscillation of ship movement.Certain three kinds of surging, swaying, heaving displacements of the lines
Ship can be allowed to sway movement.Due to the resistance comparatively very little of rolling, so being easiest to happens is that rolling and cross
The amplitude of waving shaken is the largest, so an important indicator of the quality of evaluation ship performance is the performance of ship rolling.Ship
The foundation of oceangoing ship rolling kinetic model is the basis of ships anti-rolling gyroscope of the present invention, below the present invention first to ship cross
Mathematical model is shaken to be established.
For establishing the mathematical model of ship movement, since the model of ship is non-linearization, so the present invention is for letter
Change operation, it is assumed that the rolling motion angle of ship is especially small (angle is about less than 8 degree), needed for the present invention just linearizes in this way
The ship rolling motion wanted.Turning now to the use of ship rolling motion equation being most widely Conolly model in engineering.This
Model is linear.Model is as follows：
Wherein：Ix-- ship rolling rotary inertia, kgm2
ΔIx-- ship additional rotation inertia, kgm2
Nu-- Ship Rolling Damping coefficient
D-- vessel displacement, kgm/s2
H-- ship Transverse Metacenter is high, m
φ -- ship rolling angle, rad
α1Same α2Relationship meets following formula：
Wherein：ωeIt is to meet with frequency, Hz
It has been found through experimentation that：In formula 3, three rolling moments of equal sign rightmostWithThis two
Numerical value be far smaller than Dh α1That, so, the present invention calculates to simplify, they is omitted, only to Dh α1It is ground
Study carefully, so the rolling equation of formula (3) simplifies：
Laplace transformation is carried out to formula (5), while setting primary condition in invention to beAt this time
It can show that the transmission function of ship rolling motion is as follows：
Wherein：
The natural rolling period of ship:
Formula (9) is exactly the model that the present invention linearizes.Pass through transmission function, it can be seen that this model is a second order vibration
The link swung.
(3) foundation of the total model of system and its design of immune fuzzy controller
Attached drawing 1 is exactly the structure chart of the anti-rolling gyroscope under the low speed of a ship or plane, it can be seen that passes through measuring for measuring cell
The angular velocity signal that ship rolling generates, then by being transmitted to designed controller after preamplifier, then by setting
The algorithm of the controller of meter generates the control signal that a present invention needs after calculating, this signal function shakes on gyro subtracting,
Then subtract and shake one moment loading needed of gyro generation aboard ship, so that the torque of wave is fought, to be that ship is subtracted
Effect is shaken, other control elements are given below：
1. the model of wave
The model present invention of wave is the wave for making the emulation carried out in front, and by analyzing wave, the present invention is used
Wave comply fully with the use of design.
2. the model of ship rolling
Emulation ship type in the present invention uniformly uses No. 32 ships of angles of stabilizers for China fishery supervision (now number be 302), it detailed
Thin parameter is as follows：The intrinsic rolling period T of shipφIt is 8 seconds, displacement is 1100 tons, and captain is 69.38 meters, the beam 9.6
Rice, roll damping ratio nuIt is 0.145, rolling metancenter=1.012m, the drinking water depth of ship is 3.15m.
By the ship rolling motion model of foundation into, above-mentioned parameter is brought to the transmitting letter of No. 32 ships of available fish-farming operation
Number is：
Wherein wave slope of wave surface is α1(s), ship rolling angle is φ (s).
3. measuring cell
In stabilizer, usually used is angular velocity gyro device, because angular velocity gyro device is in measuring device
In belong to most sensitive device, can quickly prepare to measure desired data.The roll angle of ship rolling can be converted to by it
Desired voltage signal.Transmission function through common angular velocity gyro device in engineering is as follows：
4. preposition amplification
When the roll angle of ship is converted to voltage signal by angular velocity gyro, since the voltage signal of itself is not very
Greatly, simultaneously because wherein efficiency of transmission is not absolutely, it is also possible to which the signal having is excessively small, when being received by controller
Through being dropped, so needing to add a preamplifier in the present invention, to these faint voltage signal enhanced processings.It is preposition
The transmission function of amplification is as follows：
Gq(s)=Kq (12)
5. Fuzzy Immune Controller
The present invention uses traditional PID controller, using the parameter of fuzzy immune control method optimal controller, through analyzing
It knows the phenomenon that certain moment output torque slope of wave surface do not catch up with wave slope of wave surface, will lead to distortion, as shown in Fig. 2, this
Invention improves it using fuzzy immune control, and certain moment output torque slope of wave surface is allowed to be more than wave slope of wave surface.
6. gyrodynamics model
Assume initially that the coordinate system i.e. base coordinate system either carrier of the ship where single-gimbal control momentum gyro
Coordinate systemWherein O point is the point of the fixation on ship.Carrier coordinate systemCarrying out angle around O η axis is turning for β
Moving coordinate system is frame coordinates system O-xyz.Frame coordinates system O-xyz carries out angle around OZ axisRotation after become O-
xRyRzRCoordinate, in detail as shown in Fig. 3：
In fig. 3, wherein the shaft of rotor is oz axis, it is evident that main shaft coordinate system does not participate in the autobiography of rotor, and this
Coordinate system is O-xyz, it is known that this coordinate system can be used as the projection of tensor sum vector, it is assumed that in inertial coodinate system
In, the rotational angular velocity of the ship as pedestal existsThe projection of coordinate system is
By the reasoning of top, the angular velocity vector Ω of the coordinate system of ship can be projected in coordinate system O-xyz, it can be deduced that with
Under relational expression：
For coordinate system O-xyz, increase it angular velocity vector Ω, decomposing in coordinate system by angular velocity can obtain
To as follows：
Assuming that the frame of gyro is set to A, B, C relative to the moment of inertia of O-xyz each axis, while assuming gyro
Rotor relative to coordinate system O-xRyRzRThe moment of inertia of each reference axis is AR、BR、CR.The sum that gyro gimbal and rotor are subject to
It is M, moment of momentum H of the rotor relative to O point that moment of face, which projects to O-xyz,RIt is as follows to project to O-xyz：
To again it can be concluded that moment of momentum H of the frame relative to O point0It projects on coordinate system O-xyz and is：
H0=[A ωx Bωy Cωz] (15)
From both the above formula, it can be deduced that frame and rotor are relative to the moment of momentum summation of O point：
In coordinate system O-xyz, by the moment of momentum theorem it can be concluded that：
It is as follows to obtain：
By that can learn that rotor relative to Oz axis is symmetrical to coordinate system analysis, it is possible to obtain AR=BR, lead to
It crosses analysis and is calculated it is known that simplifying herein, ignore gyroscopic apparatus to the moment of inertia between each axis of O-xyz, introduce reason
The constraint condition thought：
Wherein, ω0It is constant, it is the steady-state value for the absolute revolving speed that anti-rolling gyroscope rotor is waited when rotated.Simultaneously
It is calculated to simplify, introduces a constant h0, provide it and be expressed as follows：
h0=CRω0 (20)
It is as follows so as to which 18 equations are carried out abbreviation：
So far kinetics equation of the anti-rolling gyroscope relative to ship has been obtained.
WhereinWherein θ, φ, ν are pitch angle, roll angle and the yaw angle of ship respectively.
The mass center for assuming rotor in the present invention simultaneously is O point, because of this, if O point is carried out relative to some inertial coodinate system
It is not in because of the traction inertia force Ma. that the translation of O point generates when translational motion, in the anti-rolling gyroscope model of foundation
In reality, in order to export enough torque, anti-rolling gyroscope would generally be with very high rotational speed omega0It carries out
It rotates, at this time constant h0With angular velocity vector Ω, the corner of ship and moment of inertia ARFor be sufficiently large amount, so in order to more
The inhibition anti-rolling effect of good investigation anti-rolling gyroscope, also for allowing research object more to simplify, the present invention is omitted in equation
High-order term, while the influence that lesser pitching and yawing are influenced on ship is not considered, so as to simplify the fortune released above
Dynamic equation is as follows：
Wherein J=ARIt, will be in Ox axis if can be seen that from formula above and be input into a control force evidence in Oy axis
Output carrys out a bigger control moment, even if the not input of control moment, the rolling motion due to caused by wave can also allow
Gyro carries out precession, a torque Mx contrary with rolling is generated, to can also reduce rolling.The present invention designs
The anti-rolling gyroscope of design inhibition ship rolling motion is removed using this property of gyro.
Finally above formula is projected toIt is available as follows namely in the coordinate system of ship：
(4) ship gyro rolling emulates under the low speed of a ship or plane
In summary to the analysis of each section of total model of ship gyro rolling motion system under the low speed of a ship or plane,
The model and the total model of system of Fuzzy Immune Controller are built in SIMULINK environment respectively.In order to illustrate in different depth
Under robot rolling motion, the present invention in taken different depth to emulate.Attached drawing 4-7, table 5 are anti-rolling effect table.
The anti-rolling effect statistical form of anti-rolling gyroscope under 5 fuzzy-immune PID controllers of table
Fuzzy Immune Controller be it is further improved on fuzzy intelligentcontrol device, the organism in mimic biology encounters
Outside invading generates the principle of antibody, under the interference of extraneous random wave, generates the parameter of different controller,
Model is shaken to form difference and subtract, the state for allowing whole stabilizer to be optimal, so that anti-rolling effect be allowed to be optimal
State.For the present invention it has also been found that in same ariyoshi wave height value, 90 degree of rolling is most it will be evident that because extra large at this time simultaneously
The disturbance torque of wave is perpendicular acting on hull, but since anti-rolling gyroscope torque direction at this time is with perturbed force
Square is contrary, so anti-rolling effect is not worst.In from the example above, it can be seen that：The increase of ariyoshi wave height value,
Namely wave is increasing, and the anti-rolling effect of anti-rolling gyroscope reduces.But still effect is fine.This also illustrates gyros
Subtract the superiority shaken.
Specific embodiment two：
The ship gyro based on Fuzzy Immune Controller, which subtracts, under a kind of low speed of a ship or plane shakes control method, it is characterised in that：Step
It is as follows：
Step 1：Establish random seaway model；
Step 2：Ship model under low speed of a ship or plane state is obtained accordingly under the action of wave immediately by measuring cell
Ship roll angle.
Step 3：The total model of system is established, using the parameter of fuzzy immune control method optimal controller, by measuring cell
Obtained signal function generates corresponding control signal on the controller；
Step 4：Single-gimbal control momentum gyro kinetic model is established, and uses two anti-rolling gyroscopes for one
Working group subtract shaking, the signal function that controller is provided on gyroscopic apparatus, then gyro generate corresponding torque go to
Disappear the interference of wave；
Step 5：Simulation model is built in the SIMULINK of MATLAB, the present invention selects the speed of a ship or plane for 3kn, ariyoshi wave height
It is 1 meter, wave encounter angle is respectively 45 degree, 90 degree 135 degree；Ariyoshi wave height is 2m, and wave encounter angle is respectively 45 °, 90 °, 135 degree；Ariyoshi
Wave height is 4 meters, and wave encounter angle is respectively to be emulated in the case where 45 degree, 90 degree, verifying anti-rolling effect.
Random seaway model in step 1 is specifically：
Random seaway model S on the water surface is established based on the ITTC two-parameter wave providedζ(ω) is：
In formula：h1/3It is the ariyoshi wave height of wave, T is eigenperiod, and ω is angular frequency
The size of underwater wave amplitude ζ (t) is that exponentially function rule declines with the increase of the depth of water, is met：
In formula：Z is the depth of water, ζaiFor the wave amplitude of i-th harmonic wave, ωiFor the angular frequency of i-th harmonic wave, εiFor i-th harmonic wave
Initial phase, δ be 2 π/λ, wherein λ indicate wavelength.
The ship model of step 2 is specially：
Wherein：
IxFor ship rolling rotary inertia, kgm2,
ΔIxFor ship additional rotation inertia, kgm2,
D is vessel displacement, kgm2/ s,
H is that ship Transverse Metacenter is high, m.
The rolling of ship only natural period：
Wherein NuFor Ship Rolling Damping coefficient.
Fuzzy immune control method in step 3 is specially：
Fuzzy Immune Controller is to belong to intelligent control based on the basis of fuzzy controller.In engineering, much
There are unstable poles for controlled device, and in anti-rolling gyroscope, rotor is rotated, and the control of revolving speed is one heavy to closing
The link wanted.The revolution speed control system of rotor is considered as a non-minimum phase pole system, that is to say, that there are unstable
Pole, although using PID traditionally be difficult to obtain it is relatively good as a result, and fuzzy control can obtain preferable ideal,
Constantly adjusted when be system being to differentiation element and integral element, although and proportional component is little to systematic influence, just
Due to the presence of unstable pole, lead to distortion phenomenon occur.Fuzzy immunization can eliminate these distortion situations.
Single-gimbal control momentum gyro kinetic model in step 4 is specifically：
In formula：MξFor the torque in ξ axis direction, MηFor the torque in η axis direction,ForTorque in axis direction, h0For
Changshu, β are ξ axis and z-axis angle,It is frame coordinates system O-xyz around the rotation angle of OZ axis.
Simulation model in step 5 meets：
The present invention selects the speed of a ship or plane for 3kn, and ariyoshi wave height is 1 meter, and wave encounter angle is respectively 45 degree, 90 degree 135 degree；Ariyoshi wave height
For 2m, wave encounter angle is respectively 45 °, 90 °, 135 degree；The case where ariyoshi wave height is 4 meters, and wave encounter angle is respectively 45 degree, 90 degree, control
Device is emulated using Fuzzy Immune Controller.
Claims (1)
1. the ship gyro under a kind of low speed of a ship or plane based on Fuzzy Immune Controller, which subtracts, shakes control method, which is characterized in that comprising with
Lower step：
Step 1 establishes random seaway model；
The random seaway model is：
Random seaway model S on the water surface is established based on the ITTC two-parameter wave providedζ(ω) is：
In formula：h1/3It is the ariyoshi wave height of wave, T is eigenperiod, and ω is angular frequency
The size of underwater wave amplitude ζ (t) is that exponentially function rule declines with the increase of the depth of water, is met：
In formula：Z is the depth of water, ζaiFor the wave amplitude of i-th harmonic wave, ωiFor the angular frequency of i-th harmonic wave, εiFor the first of i-th harmonic wave
Phase, δ are 2 π/λ, and wherein λ indicates wavelength；
Step 2 establishes the ship model under low speed of a ship or plane state, under the action of random seaway, is obtained accordingly by measuring cell
Ship roll angle；
The ship model is：
Wherein：
IxFor ship rolling rotary inertia, unit：kg·m2,
ΔIxFor ship additional rotation inertia, unit：kg·m2,
D is vessel displacement, unit：kg·m2/ s,
H is that ship Transverse Metacenter is high, unit：M,
The rolling of ship only natural period：
Wherein NuFor Ship Rolling Damping coefficient；
Step 3 is established the total model of system and is obtained measuring cell using the parameter of fuzzy immune control method optimal controller
Signal function generate corresponding control signal on the controller；
Step 4 establishes single-gimbal control momentum gyro kinetic model, and two anti-rolling gyroscopes is used to work for one
Group subtract shaking, and the signal function that controller is provided is on gyroscopic apparatus, and then gyro generates corresponding torque and goes to offset sea
The interference of wave；
The single-gimbal control momentum gyro kinetic model is：
In formula：MξFor the torque in ξ axis direction, MηFor the torque in η axis direction,ForTorque in axis direction, h0It is normal
Number, β are ξ axis and z-axis angle,It is frame coordinates system O-xyz around the rotation angle of OZ axis；
Step 5 builds simulation model in the SIMULINK of MATLAB, verifies anti-rolling effect；
The simulation model model meets condition：
Select the speed of a ship or plane for 3kn, ariyoshi wave height is 1 meter, and wave encounter angle is respectively 45 degree, 90 degree 135 degree；Ariyoshi wave height is 2m, is met with
Angle is respectively 45 °, 90 °, 135 degree；Ariyoshi wave height is 4 meters, and wave encounter angle is respectively 45 degree, 90 degree；Controller uses fuzzy immunization
Controller is emulated.
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