CN109334892A - A kind of simplification robust adaptive pitching stabilization control method of multi-hull ship - Google Patents
A kind of simplification robust adaptive pitching stabilization control method of multi-hull ship 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
- B63B39/06—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
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Abstract
The invention discloses a kind of simplification robust adaptive pitching stabilization control methods of multi-hull ship, by the coupled motions model for establishing multi-hull ship heaving and pitching, and to the model conversion at state space form, by the coupled motions model decomposition of multi-hull ship heaving and pitching at the heaving model and pitching model of decoupling；For the heaving model and pitching model of decoupling, extended state observer is separately designed, for estimating the motion state and coupling terms of multi-hull ship；In conjunction with above-mentioned steps, the coupling terms of the basic control flow of multi-hull ship and estimation are mutually integrated and obtain virtual controlling amount, and virtual controlling amount is distributed to the angle of attack of the T-type wing and wave suppression plate.The power and torque generated by the angle of attack, controls the heaving height and the variation of pitch angular of multi-hull ship, control method proposed by the invention is simple and reliable, it is easy to accomplish, multi-hull ship heaving can be effectively realized and reduce 20%-35%, pitching reduces 40%-50%.
Description
Technical field
The invention belongs to the simplification robust adaptives of ship's navigation stability control field more particularly to a kind of multi-hull ship to subtract
Pitching control method.
Background technique
Multi-hull ship is the important development direction of modern high performance ship, has good lateral stability, sea-keeping, motor-driven
Property.But in high speed operation, the unique line style and structure of multi-hull ship cause the hydrodynamic force of the different speed of a ship or plane can be to its under-water body
Different degrees of longitudinal tilting moment is generated, which increases with Angle of Trim and increased, and with speed of a ship or plane dynamic change；Another party
The longitudinal righting moment in face, multi-hull ship is smaller, therefore the pitching of multi-hull ship/heave movement amplitude is excessive, the easy unstability of longitudinal movement,
The influence that can not ignore is generated to navigation performance, seriously affects its airworthiness.Therefore, it is necessary to carry out pitching stabilization control to multi-hull ship
System.
Currently, multi-hull ship mainly assembles the T-type wing both at home and abroad and two class of wave suppression plate subtracts and shakes equipment, reasonable control strategy is designed
It carries out multi-hull ship and subtracts heaving and pitching.Multi-hull ship motion model has the characteristics such as fast time variant, strong nonlinearity, more uncertainties,
Controller design has certain challenge.Traditional longitudinal direction, which subtracts, shakes control using two channel separations of pitching/heave, designing gain
Scheduling proportional-plus-derivative control subtract shaking, but control method needs to take a significant amount of time offline tuning parameter, and robustness is weak,
Anti-rolling effect is general.On the other hand, fuzzy control, although robust control improves multi-hull ship and subtracts shakes robust performance, but exists
The disadvantages of controller design is overly conservative, and adaptive ability is poor, restricted application, and design is complicated, it is difficult to apply in engineering.
Currently, domestic mutually integrated about using Feedback Control Laws with adaptive online compensation, improves and subtract the adaptivity for shaking control and surely
The contents such as qualitative there is no research.
Summary of the invention
The present invention is insufficient according to prior art and defect, proposes a kind of simplification robust adaptive pitching stabilization of multi-hull ship
Control method can be combined by Feedback Control Laws with adaptive online compensation, and raising subtracts the adaptivity and stabilization for shaking control
Property, and then improve the stability of multi-hull ship.
The technical solution adopted by the present invention are as follows:
A kind of simplification robust adaptive pitching stabilization control method of multi-hull ship, comprising the following steps:
Step 1, the coupled motions model of multi-hull ship heaving and pitching is established, and to the model conversion at state space shape
Formula；
Step 2, by the coupled motions model decomposition of multi-hull ship heaving and pitching at the heaving model of decoupling and pitching
Motion model；
Step 3, for the heaving model of decoupling and pitching model, extended state observer is separately designed, is used
In the motion state and coupling terms of estimation multi-hull ship；
Step 4, using proportional-plus-derivative control method, the basic of heaving model and pitching model is found out respectively
Control amount；
Step 5, in conjunction with above-mentioned steps, by the coupling terms mutually virtual control of comprehensive acquisition of the basic control flow of multi-hull ship and estimation
Amount processed, and virtual controlling amount distributed to the angle of attack of the T-type wing and wave suppression plate.
Further, in the step 1 multi-hull ship heaving and pitching coupled motions model are as follows:
Wherein, m is the quality of multi-hull ship；I55It is rotary inertia of the multi-hull ship about y-axis；a33、a55For the additional of multi-hull ship
Quality and additional rotation inertia；b33、b55For the damped coefficient of system；c33、c55For the recovery force coefficient of system；a35、a53、b35、
b53、c35、c53For the coupling term coefficient of power and torque；x3、x5Respectively indicate heaving displacement and pitch angle；It respectively indicates vertical
Swing speed and angular velocity in pitch；Respectively indicate heaving acceleration and pitching angular acceleration；FT-foil、MT-foilRespectively indicate T
Type hydrofoil lift and lifting moment；Fflap、MflapThe power and torque of wave suppression plate offer are be provided；Fwave、MwaveRespectively indicate wave
Perturbed force and torque；
The coupled motions of heaving and pitching model is changed into following state space form by mathematical equivalent transformation:
Wherein, matrixMatrixMatrixDefinition
In above formula
Further, the heaving model is expressed as:
Wherein, x1=x3, x1Indicate heaving displacement,x2Indicate heaving speed, the fortune in heave channel is coupled in pitching
Indeterminate of the momentum as heave channel, i.e.,Input power F=
FT-foil+Fflap, FT-foilRespectively indicate T-type hydrofoil lift, FflapThe power of wave suppression plate offer, F are be providedwaveRespectively indicate sea
Unrestrained perturbed force,It is yield value.
The pitching model is expressed as:
Wherein, x11Indicate pitch angle, x22Indicate angular velocity in pitch, and x11=x5,It is logical that pitching is coupled in heave
Indeterminate of the amount of exercise in road as pitch channel, i.e. indeterminate
Input torque M=MT-foil+Mflap, MT-foilRespectively indicate T-type hydrofoil lift square, MflapThe torque of wave suppression plate offer is be provided,
MwaveSea wave disturbance torque is respectively indicated,It is yield value.
Further, for the following extended state observer of heaving modelling:
Adjust parameter betaiUsing the configuration method based on bandwidth, then meet following condition:
[β1,β2,β3]=[ω0α1,ω0 2α2,ω0 3α3]；
Wherein, βiTo adjust parameter, i=1,2,3, ω0It is the corresponding bandwidth of heaving channel extended state observer, chooses and increase
Beneficial factor alphai=3！/i！×(3-i)！, i=1,2,3, e1It is system mode x1With the state z of observer estimation1Error, z1、z2
For system mode x1、x2The state of corresponding observer estimation, z3It is the estimation of system lump interference, i.e. z1→x1, z2→x2, z3
→x3=f2, error g1i(e1)=e1, i=1,2,3；Respectively estimated state z1、z2、z3First derivative, b1
For the corresponding yield value in heaving channel, U1The virtual controlling amount designed for heaving channel；
Following extended state observer is designed for pitching model:
Adjust parameter betaiiUsing the configuration method based on bandwidth, then meet following condition:
[β11,β22,β33]=[ω1α1,ω1 2α2,ω1 3α3]
Wherein, βiiTo adjust parameter, i=1,2,3, ω1It is the corresponding bandwidth of pitch channel extended state observer, e2It is to be
System state x11With the state z of observer estimation11Error, z11、z22It is system mode x11,x22Estimated value, z33It is system collection
The estimation always interfered, i.e. z11→x11, z22→x22, z33→x33=f22, error g2i(e2)=e2, i=1,2,3；
Respectively estimated state z11、z22、z33First derivative, b be the corresponding yield value of pitch channel, U2It is designed for pitch channel
The virtual controlling amount arrived；
Further, heaving model scale item kp is found out1With differential term kd1Method are as follows:
Proportional are as follows:
Differential term are as follows:
Wherein, wnFor system frequency, ε is damping ratio, and taking ε=0.85, m is the quality of multi-hull ship, a33For multi-hull ship
Additional mass, c33For the recovery force coefficient of system, K1For the size for the power that wave suppression plate generates；
The method for finding out pitching model scale item and differential term are as follows:
Further, it finds out pitch channel and seeks proportional kp2With differential term kd2Method are as follows:
Proportional are as follows:
Differential term are as follows:
Wherein, wnFor system frequency, ε is damping ratio, takes ε=0.8, I55It is rotary inertia of the multi-hull ship about y-axis,
a55For additional rotation inertia, c55For the recovery force coefficient of system, K2For the size for the torque that the T-type wing generates；
Further, the method for the multi-hull ship virtual controlling rule control amount comprehensive with coupling terms is obtained are as follows:
Step 5.1, in conjunction with the proportional and differential term of heaving model and pitching model, heaving fortune is respectively obtained
The basic control of movable model and pitching model inputs β1、β2；
Step 5.2, the two basic control input synthesis obtained based on heaving and pitching model are disturbed lump interference and estimated
Evaluation z3And z33Compensation determine the virtual controlling amount U of final heaving model and pitching model1、U2；
Step 5.3, according to the virtual controlling amount U of heaving model and pitching model1、U2, it is comprehensive to obtain multi-hull ship
Control amount, i.e., the angle of attack of the T-type wing and wave suppression plate input.
Further, the basic control of heaving model and pitching model inputs β in the step 5.11、β2It indicates
Are as follows: the basic control flow in heaving channel are as follows:
The basic control flow of pitch channel are as follows:
Wherein, x1For heaving displacement, x2For heaving speed, a33、a55For the additional mass and additional rotation inertia of multi-hull ship,
b33、b55For the damped coefficient of system, c33、c55For the recovery force coefficient of system, m is the quality of multi-hull ship, heaving model ratio
Item kp1With differential term kd1, I55It is rotary inertia of the multi-hull ship about y-axis, x11Pitch angle, x22For angular velocity in pitch；Multi-hull ship
Pitch channel seeks proportional kp2With differential term kd2。
Further, total virtual controlling amount are as follows:
U1=β1-z3/b1；
U2=β2-z33/b2；
Wherein, β1It is inputted for the basic control in heaving channel, β2It is inputted for the basic control of pitch channel, z3(t)、z33(t)
For the lump interference estimate in heaving channel and pitch channel,
Further, the method for the angle of attack input of the T-type wing and wave suppression plate is obtained are as follows:
Wherein, α1For the angle of attack of wave suppression plate, α2For the angle of attack of the T-type wing, fflapFor the power that wave suppression plate generates, fT-foilFor T-type
The power that the wing generates, ρ are density of sea water, and A is T-type area of hydrofoil, CLFor the lift coefficient of hydrofoil, V is speed of the fluid with respect to hydrofoil
Degree, CL1For wave suppression plate lift coefficient, S is the effective area of wave suppression plate, lflap、lT-foilIt is the power of wave suppression plate and the T-type wing respectively
Arm.
Beneficial effects of the present invention: the present invention passes through the proportional-plus-derivative control law feedback stabilization of decoupling, and adaptive expansion
The online feedforward compensation of observer is opened up, realization, which subtracts the heaving and pitching of multi-hull ship to shake robust adaptive and subtract, shakes control, and raising is more
The comfort of body ship.
In the present invention, the Observable state of the Feedback Control Laws and feedforward compensation of design is pitch angular, and angular speed hangs down
Height, heaving rate are swung, the total control amount of synthesis resolves the angle of attack for the T-type wing and wave suppression plate, passes through power and power that the angle of attack generates
Square controls the heaving height and the variation of pitch angular of multi-hull ship.Using this control algolithm, control law is simple and reliable, and programming is held
Easily, engineering is easily achieved, and realizes that multi-hull ship heaving reduces 20%-35%, pitching reduces 40%-50%.
Detailed description of the invention
Fig. 1 is the control principle drawing of multi-hull ship；
Fig. 2 is that multi-hull ship adds the heaving displacement after controller action and observer estimated value and not under sea wave disturbance
Add the quantity of state curve of controller action；
Fig. 3 is that multi-hull ship adds the heaving speed after controller action and observer estimated value and not under sea wave disturbance
Add the quantity of state curve of controller action；
Fig. 4 is that multi-hull ship add the pitch angle after controller action and observer estimated value under sea wave disturbance and do not add
The quantity of state curve of controller action；
Fig. 5 be multi-hull ship added under sea wave disturbance the angular velocity in pitch after controller action and observer estimated value and
Not plus the quantity of state curve of controller action.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, not
For limiting the present invention.
This method is using simplified feedforward and feedback complex control method to multi-hull ship robust pitching stabilization, and control principle is such as
Shown in Fig. 1, is subtracted using multi-hull ship as object designs and shake control system.Wherein control system includes dsp controller, and navigational material is held
The row structure T-type wing and wave suppression plate.Wherein navigational material includes being installed on the gyroscope of the hull immediate vicinity of multi-hull ship and vertical
Accelerometer, for measuring posture and the position of multi-hull ship, wherein pitch angular is obtained by gyroscope measurement, acceleration in pitch
It is obtained by precise figures differential, heaving speed is integrated by accelerometer and obtained, and heaving height is accumulated twice by accelerometer
It separately wins.Dsp controller obtains heaving and the pitch angular of multi-hull ship by navigational material, compared with desired value, according to preparatory
The control strategy and online compensation of design calculate control input, distribute to the T-type wing and wave suppression plate executing agency；Execute structure
It executes control command and carries out angle of attack swing, control the athletic posture of multi-hull ship, subtract shaking.Controller of the invention is using a kind of
Based on proportional-plus-derivative control and the compound control structure of extended state observer, the observation state of control is pitch angular, angle speed
Degree, heaving height, heaving rate, the virtual controlling amount of synthesis resolve the angle of attack for the T-type wing and wave suppression plate, pass through what the angle of attack generated
Power and torque control the heaving height and the variation of pitch angular of multi-hull ship.
It is of the invention that detailed process is as follows:
Step 1, the coupled motions model of multi-hull ship heaving and pitching is established:
Wherein, m is the quality of multi-hull ship；I55It is rotary inertia of the multi-hull ship about y-axis；a33、a55For the additional of multi-hull ship
Quality and additional rotation inertia；b33、b55For the damped coefficient of system；c33、c55For the recovery force coefficient of system；a35、a53、b35、
b53、c35、c53For the coupling term coefficient of power and torque；x3、x5Respectively indicate heaving displacement and pitch angle；It respectively indicates vertical
Swing speed and angular velocity in pitch；Respectively indicate heaving acceleration and pitching angular acceleration；FT-foil、MT-foilRespectively indicate T
Type hydrofoil lift and lifting moment；Fflap、MflapThe power and torque of wave suppression plate offer are be provided；Fwave、MwaveRespectively indicate wave
Perturbed force and torque.
It is converted by mathematical equivalent, under the coupled motions of heaving and pitching model is changed by mathematical equivalent transformation
The state space form in face:
Wherein,It defines in above formula (3)
Step 2, by the coupled motions model decomposition of multi-hull ship heaving and pitching at the heaving model of decoupling and pitching
Motion model；
Heaving model is expressed as:
Wherein, x1Indicate heaving displacement, x2Indicate heaving speed, and x1=x3,Heave channel is coupled in pitching
Indeterminate of the amount of exercise as heave channel, i.e.,Input F=
FT-foil+Fflap, T-foil represents the T-type wing, and flap represents wave suppression plate,It is yield value.
The pitching model is expressed as:
Wherein, x11Indicate pitch angle, x22Indicate angular velocity in pitch, and x11=x5,It is logical that pitching is coupled in heave
Indeterminate of the amount of exercise in road as pitch channel, i.e. indeterminate
Input M=MT-foil+Mflap, T-foil represents the T-type wing, and flap represents wave suppression plate,It is yield value.
Step 3, for the heaving model of decoupling and pitching model, extended state observer is separately designed, is used
In the motion state and coupling terms of estimation multi-hull ship；It is specific as follows:
For the following extended state observer of heaving modelling:
Adjust parameter betaiUsing the configuration method based on bandwidth, then meet following condition:
[β1,β2,β3]=[ω0α1,ω0 2α2,ω0 3α3]； (7)
Wherein, βiTo adjust parameter, i=1,2,3, ω0It is the corresponding bandwidth of heaving channel extended state observer, chooses and increase
Beneficial factor alphai=3！/i！×(3-i)！, i=1,2,3, e1It is system mode x1With the state z of observer estimation1Error, z1、z2
For system mode x1、x2The state of corresponding observer estimation, z3It is the estimation of system lump interference, i.e. z1→x1, z2→x2, z3
→x3=f2, g1i(e1)=e1, i=1,2,3；Respectively estimated state z1、z2、z3First derivative, b1It is vertical
Swing the corresponding yield value in channel, U1The virtual controlling amount designed for heaving channel.
Following extended state observer is designed for pitching model:
Adjust parameter betaiiUsing the configuration method based on bandwidth, then meet following condition:
[β11,β22,β33]=[ω1α1,ω1 2α2,ω1 3α3] (9)
Wherein, βiiTo adjust parameter, i=1,2,3, ω1It is the corresponding bandwidth of pitch channel extended state observer, e2It is to be
System state x11With the state z of observer estimation11Error, z11、z22It is system mode x11,x22Estimated value, z33It is system collection
The estimation always interfered, i.e. z11→x11, z22→x22, z33→x33=f22, g2i(e2)=e2, i=1,2,3； Respectively
For estimated state z11、z22、z33First derivative, b be the corresponding yield value of pitch channel, U2It is designed for pitch channel
Virtual controlling amount.
Step 4, using proportional-plus-derivative control method, the basic of heaving model and pitching model is found out respectively
Control amount；It is specific as follows:
The proportional kp in multi-hull ship heaving model, control law1Value can be by system frequency wnIt acquires, and more
The intrinsic frequency of body ship is it is known that so proportional kp1Value are as follows:
Differential term kd1Value is then by system frequency wnIt is determined with damping ratio ε, so differential term kd1Value are as follows:
Wherein, wnFor system frequency, ε is damping ratio, and taking ε=0.85, m is the quality of multi-hull ship, a33For multi-hull ship
Additional mass, c33For the recovery force coefficient for system, K1For the size for the power that wave suppression plate generates.
Referring to the solution of proportional and differential term in heaving model, the proportional kp in pitching model is obtained2
With differential term kd2:
Proportional are as follows:
Differential term are as follows:
Wherein, wnFor system frequency, ε is damping ratio, takes ε=0.8, I55It is rotary inertia of the multi-hull ship about y-axis,
a55For additional rotation inertia, c55For the recovery force coefficient of system, K2For the size for the torque that the T-type wing generates；
Step 5, in conjunction with above-mentioned steps, by the coupling terms mutually virtual control of comprehensive acquisition of the basic control flow of multi-hull ship and estimation
Amount processed, and virtual controlling amount distributed to the angle of attack of the T-type wing and wave suppression plate.
Step 5.1, in conjunction with the proportional and differential term of heaving model and pitching model, heaving fortune is respectively obtained
The basic control of movable model and pitching model inputs β1、β2；
The basic control flow in heaving channel are as follows:
The basic control flow of pitch channel are as follows:
Wherein, x1For heaving displacement, x2For heaving speed, a33、a55For the additional mass and additional rotation inertia of multi-hull ship,
b33、b55For the damped coefficient of system, c33、c55For the recovery force coefficient of system, m is the quality of multi-hull ship, heaving model ratio
Item kp1With differential term kd1, I55It is rotary inertia of the multi-hull ship about y-axis, x11Pitch angle, x22For angular velocity in pitch；Multi-hull ship
Pitch channel seeks proportional kp2With differential term kd2。
Step 5.2, the two basic control input synthesis obtained based on heaving and pitching model are disturbed lump interference and estimated
Evaluation z3And z33Compensation determine the virtual controlling amount U of final heaving model and pitching model1、U2；
U1=β1-z3/b1； (16)
U2=β2-z33/b2； (17)
Wherein, β1It is inputted for the basic control in heaving channel, β2It is inputted for the basic control of pitch channel, z3(t)、z33(t)
For the lump interference estimate in heaving channel and pitch channel,
Step 5.3, according to the virtual controlling amount U of heaving model and pitching model1、U2, it is comprehensive to obtain multi-hull ship
Control amount, i.e., the angle of attack of the T-type wing and wave suppression plate input.
Wherein, α1For the angle of attack of wave suppression plate, α2For the angle of attack of the T-type wing, fflapFor the power that wave suppression plate generates, fT-foilFor T-type
The power that the wing generates, ρ are density of sea water, and A is T-type area of hydrofoil, CLFor the lift coefficient of hydrofoil, V is speed of the fluid with respect to hydrofoil
Degree, CL1For wave suppression plate lift coefficient, S is the effective area of wave suppression plate, lflap、lT-foilIt is the power of wave suppression plate and the T-type wing respectively
Arm.
Computer sim- ulation and tank experiments show that course angle is 180 °, and hull waterline is a length of for being 14kn in the speed of a ship or plane
The multi-hull ship of 48.4m or so, sea situation grade are 4 grades.With reference to the accompanying drawings 2, the image of heaving displacement shown in Fig. 3 and time relationship and
The image of heaving speed and time can be evident that from figure, have controller compared to relatively without controller, multi-hull ship
Heaving reduces 20%-35%；In conjunction with attached drawing 4 and attached drawing 5, the image of pitch angle and angular velocity in pitch and time can be obvious
Be seen that there is controller compared to relatively without controller, the pitching of multi-hull ship reduces 40%-50%.The steady of system can be significantly improved
It is qualitative, it improves subtracting for multi-hull ship and shakes performance.In addition to this, observer can also estimate the state of system well.The present invention is same
Sample can be used for the control of other multi-hull ships.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (10)
1. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship, which comprises the following steps:
Step 1, the coupled motions model of multi-hull ship heaving and pitching is established, and to the model conversion at state space form；
Step 2, by the coupled motions model decomposition of multi-hull ship heaving and pitching at the heaving model and pitching of decoupling
Model；
Step 3, for the heaving model of decoupling and pitching model, extended state observer is separately designed, for estimating
Count the motion state and coupling terms of multi-hull ship；
Step 4, using proportional-plus-derivative control method, the basic control of heaving model and pitching model is found out respectively
Amount；
Step 5, in conjunction with above-mentioned steps, the coupling terms of the basic control flow of multi-hull ship and estimation is mutually integrated and obtain virtual controlling
It measures, and virtual controlling amount is distributed to the angle of attack of the T-type wing and wave suppression plate.
2. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 1, which is characterized in that
The coupled motions model of multi-hull ship heaving and pitching in the step 1 are as follows:
Wherein, m is the quality of multi-hull ship；I55It is rotary inertia of the multi-hull ship about y-axis；a33、a55For the additional mass of multi-hull ship
With additional rotation inertia；b33、b55For the damped coefficient of system；c33、c55For the recovery force coefficient of system；a35、a53、b35、b53、
c35、c53For the coupling term coefficient of power and torque；x3、x5Respectively indicate heaving displacement and pitch angle；Respectively indicate heaving speed
Degree and angular velocity in pitch；Respectively indicate heaving acceleration and pitching angular acceleration；FT-foil、MT-foilRespectively indicate T-type water
Wing lift and lifting moment；Fflap、MflapThe power and torque of wave suppression plate offer are be provided；Fwave、MwaveRespectively indicate sea wave disturbance
Power and torque.
3. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 1 or 2, feature exist
In, in the step 1, the state space form of the coupled motions model of the heaving and pitching:
Wherein,
4. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 1 or 2, feature exist
In in the step 2, heaving model is expressed as:
Wherein, x1=x3, x1Indicate heaving displacement,x2Indicate heaving speed, the amount of exercise in heave channel is coupled in pitching
As the indeterminate in heave channel, i.e. indeterminateInput power F=
FT-foil+Fflap,It is yield value.
The pitching model is expressed as:
Wherein, x11=x5, x11Indicate pitch angle,x22Indicate angular velocity in pitch；The fortune of pitch channel is coupled in heave
Indeterminate of the momentum as pitch channel, i.e. indeterminateInput
Torque M=MT-foil+Mflap,It is yield value.
5. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 1, which is characterized in that
In the step 3,
For the following extended state observer of heaving modelling:
Adjust parameter betaiUsing the configuration method based on bandwidth, then meet following condition:
[β1,β2,β3]=[ω0α1,ω0 2α2,ω0 3α3]；
Wherein, βiTo adjust parameter, i=1,2,3, ω0It is the corresponding bandwidth of heaving channel extended state observer, chooses gain system
Number αi=3！/i！×(3-i)！, i=1,2,3, e1It is system mode x1With the state z of observer estimation1Error, z1、z2To be
System state x1、x2The state of corresponding observer estimation, z3It is the estimation of system lump interference, i.e. z1→x1, z2→x2, z3→x3
=f2, error g1i(e1)=e1, i=1,2,3；Respectively estimated state z1、z2、z3First derivative, b1It is vertical
Swing the corresponding yield value in channel, U1The virtual controlling amount designed for heaving channel；
Following extended state observer is designed for pitching model:
Adjust parameter betaiiUsing the configuration method based on bandwidth, then meet following condition:
[β11,β22,β33]=[ω1α1,ω1 2α2,ω1 3α3]；
Wherein, βiiTo adjust parameter, i=1,2,3, ω1It is the corresponding bandwidth of pitch channel extended state observer, e2It is system shape
State x11With the state z of observer estimation11Error, z11、z22It is system mode x11、x22Estimated value, z33It is that system lump is dry
The estimation disturbed, i.e. z11→x11, z22→x22, z33→x33=f22, error g2i(e2)=e2, i=1,2,3； Respectively
For estimated state z11、z22、z33First derivative, b be the corresponding yield value of pitch channel, U2It is designed for pitch channel
Virtual controlling amount.
6. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 1, which is characterized in that
Basic control flow in the step 4 are as follows:
Heaving model scale item kp1With differential term kd1Are as follows:
Wherein, wnFor system frequency, ε is damping ratio, and taking ε=0.85, m is the quality of multi-hull ship, a33For the attached of multi-hull ship
Add quality, b33For the damped coefficient of system, c33For the recovery force coefficient for system, K1For the size for the power that wave suppression plate generates；
Pitch channel seeks proportional kp2With differential term kd2Method are as follows:
Wherein, wnFor system frequency, ε is damping ratio, takes ε=0.8, I55It is rotary inertia of the multi-hull ship about y-axis, a55For
Additional rotation inertia, b55For the damped coefficient of system, c55For the recovery force coefficient of system, K2For the T-type wing generate torque it is big
It is small.
7. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 1, which is characterized in that
The method of the multi-hull ship virtual controlling rule control amount comprehensive with coupling terms is obtained in the step 5 are as follows:
Step 5.1, in conjunction with the proportional and differential term of heaving model and pitching model, heaving mould is respectively obtained
The basic control of type and pitching model inputs β1、β2；
Step 5.2, the two basic control input synthesis obtained based on heaving and pitching model disturb lump interference estimate z3
And z33Compensation determine the virtual controlling amount U of final heaving model and pitching model1、U2；
Step 5.3, according to the virtual controlling amount U of heaving model and pitching model1、U2, obtain the comprehensive control of multi-hull ship
The input of amount processed, the i.e. angle of attack of the T-type wing and wave suppression plate.
8. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 7, which is characterized in that
The basic control of heaving model and pitching model inputs β in the step 5.11、β2It indicates are as follows: the base in heaving channel
This control amount are as follows:
The basic control flow of pitch channel are as follows:
Wherein, x1For heaving displacement, x2For heaving speed, a33、a55For the additional mass and additional rotation inertia of multi-hull ship, b33、
b55For the damped coefficient of system, c33、c55For the recovery force coefficient of system, m is the quality of multi-hull ship, heaving model scale
Item kp1With differential term kd1, I55It is rotary inertia of the multi-hull ship about y-axis, x11Pitch angle, x22For angular velocity in pitch；Multi-hull ship is vertical
It shakes channel and seeks proportional kp2With differential term kd2。
9. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 7, which is characterized in that
Total virtual controlling amount are as follows:
U1=β1-z3/b1；
U2=β2-z33/b2；
Wherein, β1It is inputted for the basic control in heaving channel, β2It is inputted for the basic control of pitch channel, z3(t)、z33It (t) is vertical
The lump interference estimate of channel and pitch channel is swung,
10. a kind of simplification robust adaptive pitching stabilization control method of multi-hull ship according to claim 7, feature exist
In the method for the angle of attack input for obtaining the T-type wing and wave suppression plate are as follows:
Wherein, α1For the angle of attack of wave suppression plate, α2For the angle of attack of the T-type wing, fflapFor the power that wave suppression plate generates, fT-foilFor the production of the T-type wing
Raw power, ρ are density of sea water, and A is T-type area of hydrofoil, CLFor the lift coefficient of hydrofoil, V is speed of the fluid with respect to hydrofoil, CL1
For wave suppression plate lift coefficient, S is the effective area of wave suppression plate, lflap、lT-foilIt is the arm of force of wave suppression plate and the T-type wing respectively.
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