CN109774855A - A kind of ship stabilization gyro parameter optimization method - Google Patents
A kind of ship stabilization gyro parameter optimization method Download PDFInfo
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Abstract
A kind of ship stabilization gyro parameter optimization method, step is: first is that according to Ship Structure basic parameter and rolling motion basic parameter, establish rolling motion mathematical model, according to single-gimbal control momentum gyro torque equilibrium equation, establish gyro and combined marine motion mathematical model, it calculates separately to subtract and shakes the standard deviation value that gyro does not work with ship rolling angle when work, establish the expression formula that ship stabilization gyro subtracts the rate of shaking；It shakes gyro second is that comprehensively considering to subtract and subtracts the rate of shaking, occupied area, total quality and motor driven energy consumption selected target function, according to the installation space size of ship's space, the constraint condition of electric system supply power and damper processing technology difficulty given parameters, ship stabilization gyro optimization model is constructed；Third is that original subtract is shaken gyro parameter as initial value, ship stabilization gyro optimization model is solved by most value solving-optimizing algorithm, acquisition, which subtracts, shakes gyro optimal value of the parameter.This method, which can effectively improve, subtracts the anti-rolling effect for shaking gyro.
Description
Technical field
The present invention relates to ship stabilization technical fields, are to be related to a kind of ship stabilization gyro parameter optimization more specifically
Method.
Background technique
Ship stabilization gyro is one kind of ship stabilizer, in recent years, with modern material science, manufacturing technology, control
The development of the subjects such as theory processed, ship stabilization gyro have come back to the visual field of people, have caused the concern of many scholars and have ground
Study carefully.Tristan Perez (2009), which establishes to subtract, shakes gyro and combined marine mathematical model, designs precession state controller, leads to
The damped coefficient in the angle of precession size change precession state controller of feedback is crossed, realization, which subtracts, shakes.You Fangjun (2012) is established
Subtract and shake gyro and combined marine mathematical model, and carries out simulation analysis for a certain ship type.Chinese Patent Application No. is
201510724324.4 patent discloses " a kind of gyrostabilizer peculiar to vessel and its subtract shake gyrorotor system ", which is situated between
It has continued and has subtracted the basic framework for shaking gyro, and shaken torque side in precession moment direction and subtracting and apply one upwardly through electromagnetic levitation type bearing
It is fixed with precession moment, subtract the magnetic force that shake torque contrary, reduce bearing wear, improve the service life.U.S. Patent application
Number the gyroscopic stabilizer of ship rolling " inhibit " is disclosed for the patent of US6973847B2, the invention improves upon ship stabilization tops
The frame structure of spiral shell, and propose several feasibility control methods.
It at this stage, about the patent for shaking gyro and paper is subtracted is mostly both at home and abroad to subtract to shake gyro overall structure Frame Design and control
Technique study processed, and existing research shows that the variation of Ship Structure and kinematic parameter, gyrorotor and precession damping parameter can
Cause anti-rolling effect to significantly alter, but designs the method for its optimized parameter according to these influence factors and have no and refer to.
Summary of the invention
The purpose of the present invention is aiming at the problems and shortcomings existing in the prior art, provide a kind of ship stabilization gyro parameter
Optimization method.
Method of the invention be it is different according to the cabin available space, output power, structural strength of different ship types etc.,
The parameter value for subtracting and shaking the key influence factors such as gyrorotor, precession damping parameter, motor speed is advanced optimized, and then in ship
Better anti-rolling effect is realized under each constraint condition.
In order to achieve the above objectives, the present invention is realised by adopting the following technical scheme.
A kind of ship stabilization gyro parameter optimization method, includes the following steps:
(1) according to Ship Structure basic parameter and ship rolling motion basic parameter, ship rolling motion mathematical modulo is established
Type is established gyro and combined marine motion mathematical model, is counted respectively further according to single-gimbal control momentum gyro torque equilibrium equation
It calculates to subtract and shakes the standard deviation value that gyro does not work with ship rolling angle when work, and then establish the table that ship stabilization gyro subtracts the rate of shaking
Up to formula.
(2) comprehensively consider to subtract and shake gyro and subtract the rate of shaking, occupied area, total quality and motor driven energy consumption selected target letter
Number can supply power according to the mountable space size of ship's space, electric system and damper processing technology difficulty is given
The constraint condition of parameter, and then construct ship stabilization gyro optimization model.
(3) original subtract is shaken into gyro parameter as initial value, ship stabilization gyro is joined by most value solving-optimizing algorithm
Number Optimized model is solved, and then is obtained to subtract and shaken gyro optimal value of the parameter.
It is further preferred that the particular content and method and step of the step (1) are as follows:
(a) it calculates to subtract and shakes ship rolling angle φ when gyro does not workbStandard deviation value.
If hull own rotation inertia is Iφφ, additional mass rotary inertia is Jφφ, ship itself damping recovery coefficient be
c1、c3, ship self-recovery torque coefficient is k1、k3、k5, the displacement of ship is D, a height of h of the transverse stability of ship, wave model
Equation is α (t), then establishes ship rolling mathematical model are as follows:
φ in formulabFor ship rolling angle.
It enablesThen first order differential equation system initial-value problem is converted by above formula:
In formula:
Differential equation is carried out on time t to the differential equation, obtains following numeric format:
Wherein h is expressed as the iteration step length of time t, and k is expressed as the number of iterations, then must subtract and shake ship cross when gyro does not work
Cradle angle is with φbThe expression formula of time t transformation:
φbk=φb(k-1)+hxk
Subtract and shakes ship rolling angle φ when gyro does not workbStandard deviation S (φb) are as follows:
N is sampling number in time t in formula, i ∈ N,For ship rolling angle φbAverage value.
(b) it calculates and subtracts ship rolling angle φ when shaking gyro workaStandard deviation value.
Hull own rotation inertia is Iφφ, additional mass rotary inertia is Jφφ, it is c that ship itself, which damps recovery coefficient,1、
c3, ship self-recovery torque coefficient is k1、k3、k5, the displacement of ship is D, a height of h of the transverse stability of ship, wave model side
Journey is α (t), then establishes to subtract and shake gyro and combined marine mathematical model are as follows:
In formula:, φbFor ship rolling angle, β is to subtract to shake gyroscopic procession angle, and R is to subtract to shake gyrorotor radius, and L is to subtract to shake top
Spiral shell rotor thickness, ω are rotor speed, and M is to subtract the damped coefficient for shaking gyroscopic procession direction.
It enablesThen first order differential equation system initial-value problem is converted by above formula:
In formula:
f1(t,φa(t), x (t), β (t), y (t))=- c1x(t)-c3x(t)3-k1φa(t)-k3φa(t)3-k5φa(t)5
-h0y(t)cos(β(t))/(Iφφ+Jφφ)+Dhα(t)/(Iφφ+Jφφ)
f2(t, x (t), β (t), y (t))=h0x(t)cos(β(t))/J-My(t)/J
Differential equation is carried out on time t to the differential equation, following numeric format can be obtained:
Wherein h is expressed as the iteration step length of time t, and k is expressed as the number of iterations, then must subtract ship rolling when shaking gyro work
Angle is with φaThe expression formula of time t transformation:
φak=φa(k-1)+hxk
Subtract ship rolling angle φ when shaking gyro workaStandard deviation S (φa) be；
N is sampling number in time t in formula, i ∈ N,For ship rolling angle φaAverage value.
(c) expression formula that ship stabilization gyro subtracts the rate of shaking is established.
Ship stabilization gyro subtracts the rate of shaking are as follows:
Subtract the rate of shaking:
It is further preferred that the particular content and method and step of the step (2) are as follows:
(a) selected target function
According to ship self structure and kinematic parameter, the mountable space in cabin, power-driven system output power, material knot
The key factors such as structure intensity propose evaluation index, shake rate TT comprising subtracting, subtract and shake gyro occupied area π R2, subtract and shake gyro entirety matter
Measure ρ π R2L, subtract and shake gyro driving motor rotation energy consumption ω, subtract and shake gyroscopic procession damped coefficient M etc., integrating representation are as follows:
min Z(x1,x2,...,xi,...,xn)
Wherein xi∈ (R, L, M, ω, TT ...)
(b) specifying constraint
According to the mountable space size of ship's space, provides and subtract the size constraint for shaking gyrorotor.Assuming that ship
The mountable bulk in cabin is hIt is long×hIt is wide×hIt is high, then the radius R and thickness L of gyrorotor need to meet following constraint item
Part:
Power can be supplied according to Ship Electrical Power System, provides the constraint condition of motor speed.Assuming that can supply power is PShip,
Due toWherein P is rated power, and T is nominal torque, then motor speed need to meet following constraint condition:
According to precession damper processing technology difficulty, the problems such as considering heat dissipation and intensity when damper work, damping is provided
The constraint condition of device damped coefficient indicates are as follows: ZIt is low≤M≤ZIt is high, wherein ZIt is lowWith ZIt is highIt need to be provided specifically according to specific damper size
Value.
Gyro shaken to subtracting of finding out of above-mentioned steps (1) subtract the rate TT of shaking and equally proposes constraint requirements:
TT≥a (0≤a≤1)
Then constraint condition is summarized are as follows:
(c) ship stabilization gyro optimization model is constructed
According to above-mentioned objective function and constraint condition, ship stabilization gyro optimization model is established:
Further, building subtracts the highest ship stabilization gyro optimization model of the rate of shaking.
Rate highest is shaken it is required that subtracting, then takes objective function are as follows:
min Z(1-TT)
In view of ship's space can use installation space, Ship Electrical Power System can output power, damper designs requirement limitation
And subtracts the problems such as rate of shaking requires and provide constraint condition.Then constraint condition indicates are as follows:
Foundation subtracts the highest ship stabilization gyro optimization model of the rate of shaking:
Further, the smallest ship stabilization gyro optimization model of rotor quality is constructed.
Usually it is related to light-weight design in optimization design Shi Douhui, i.e. quality is minimum.Therefore design: when subtract shake rate satisfaction set
When provisioning request, the quality of gyrorotor is minimum, then objective function are as follows:
min Z(ρπR2L)
Density is indicated in formula ρ, according to depending on rotor material.
In view of ship's space can use installation space, Ship Electrical Power System can output power, damper designs requirement limitation
And subtracts the problems such as rate of shaking requires and provide constraint condition.Then constraint condition indicates are as follows:
Then establish the smallest ship stabilization gyro optimization model of rotor quality:
Further, the smallest ship stabilization gyro optimization model of root diameter is constructed.
In view of the space of ship is limited, it is desirable to subtract shake gyro occupied area it is smaller, comparison subtract the basic knot for shaking gyro
The diameter of rotor known to structure shakes gyro overall dimensions and influences maximum on subtracting, therefore objective function is set as subtracting the diameter for shaking gyro minimum:
min Z(2R)
In view of ship's space can with installation space, Ship Electrical Power System can output power, damper designs require limitation,
Subtract the problems such as shaking rate requirement and root diameter and thickness relationship and provides constraint condition.Then constraint condition indicates are as follows:
Then establish the smallest ship stabilization gyro optimization model of root diameter:
It is further preferred that the particular content and method and step of step (3) are as follows:
Original subtract is shaken into gyro parameter as initial value, it is excellent to ship stabilization gyro parameter by most value solving-optimizing algorithm
Change model to be solved, and then obtain to subtract and shake gyro optimal value of the parameter, detailed process is as follows:
(a) original subtract is shaken into gyro parameter R first, L, M, ω is as initial value.
(b) above-mentioned initial value is brought into ship stabilization gyro subtracts to shake in rate formula and calculate, calculate this group of parameter
Under optimization object function value.
(c) consider the objective function min Z (x in ship stabilization gyro optimization model1,x2,...,xi,...,xn)
And constraint conditionBy optimization algorithm, constantly adjusted in the constraint condition of Optimal Parameters
Bring the numerical value of each Optimal Parameters of calculating, solving optimization target function value into.
(d) final to obtain the optimized parameter for meeting constraint condition Yu objective function requirement.
Compared with the prior art, the advantages of the present invention are as follows:
The present invention has effectively achieved each not for cabin available space, output power, structural strength of different ship types etc.
Identical, optimization subtracts the parameter value for shaking the key influence factors such as gyrorotor, precession damping parameter, motor speed, and then in ship
The ship stabilization gyro parameter optimization method of more optimization aims is realized under each constraint condition；Particularly, under same anti-rolling effect,
It significantly reduces and subtracts the quality for shaking gyro；Particularly, this method has also in the case where ensure that the not increased situation of overall weight
Effect ground, which improves, subtracts the anti-rolling effect for shaking gyro.
Detailed description of the invention:
Fig. 1 is that the present invention subtracts the structural schematic diagram for shaking gyro
Fig. 2 is that the present invention subtracts the method flow diagram for shaking gyro parameter optimization
Fig. 3 is the anti-rolling effect comparison diagram of the specific embodiment of the invention
In figure: 1- hull, 2- pedestal, 3- outer framework, 4- precession axis, 5- rotor.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.
O ξ η ζ is that origin is fixedly connected on the translation coordinate system on hull 1 as shown in Figure 1:, and wherein the opposite direction of O ξ axis refers to
To the earth's core, O ξ axis is the longitudinal axis of hull 1, and hull 1 is roll angle φ around the corner of longitudinal axis O ξ.Oxyz coordinate origin is fixedly connected on
The intersection point of gyrorotor axis and outer framework axis, Oz axis are the axis of rotation of rotor 5, and Oy axis is 3 shaft of outer framework, and outer framework 3 is around Oy
The corner of axis is angle of precession β, and Oxyz coordinate system can be considered the rotating coordinate system of opposite O ξ η ζ.
By taking practical ship as an example, a kind of ship stabilization gyro parameter optimization method of the present invention is described in detail.
As shown in Fig. 2, being a kind of ship stabilization gyro parameter optimization method of the invention, the specific steps are as follows:
Step (1): according to Ship Structure basic parameter and ship rolling motion basic parameter, ship rolling motion number is established
It learns model and establishes gyro and combined marine motion mathematical model further according to single-gimbal control momentum gyro torque equilibrium equation, point
It Ji Suan not subtract and shake the standard deviation value that gyro does not work with ship rolling angle when work, and then establish ship stabilization gyro and subtract the rate of shaking
Expression formula.
Its particular content and method and step are as follows:
(a) it calculates to subtract and shakes ship rolling angle φ when gyro does not workbStandard deviation value.
Example ship parameter are as follows: hull own rotation inertia is 1078000kgm with additional mass rotary inertia summation2, ship
It is 0.0208,0.0165 that oceangoing ship itself, which damps recovery coefficient, and ship self-recovery torque coefficient is 2.0327, -0.743,0.0643,
The displacement of ship is 195t, and a height of 0.962m of the transverse stability of ship, wave model equation is α (t), then can establish ship rolling
Mathematical model are as follows:
φ in formulabFor ship rolling angle.
It enablesCan then above formula be converted to first order differential equation system initial-value problem:
In formula:
Differential equation is carried out on time t to the differential equation, following numeric format can be obtained:
Wherein h is expressed as the iteration step length of time t, and k is expressed as the number of iterations, then can must subtract and shake ship when gyro does not work
Roll angle is with φbThe expression formula of time t transformation:
φbk=φb(k-1)+hxk
Subtract and shakes ship rolling angle φ when gyro does not workbStandard deviation S (φb) are as follows:
N is sampling number in time t in formula, i ∈ N,For ship rolling angle φbAverage value.
(b) it calculates and subtracts ship rolling angle φ when shaking gyro workaStandard deviation value.
As shown in figure 3, hull own rotation inertia and additional mass rotary inertia summation are 1078000kgm2, ship is certainly
It is 0.0208,0.0165 that body, which damps recovery coefficient, and ship self-recovery torque coefficient is 2.0327, -0.743,0.0643, ship
Displacement be 195t, a height of 0.962m of the transverse stability of ship, wave model equation be α (t), then can establish to subtract and shake gyro and ship
Oceangoing ship combines mathematical model are as follows:
In formula: φaFor ship rolling angle, β is to subtract to shake gyroscopic procession angle, and R is to subtract to shake gyrorotor radius, and L is to subtract to shake top
Spiral shell rotor thickness, ω are rotor speed, and M is to subtract the damped coefficient for shaking gyroscopic procession direction.
It enablesCan then above formula be converted to first order differential equation system initial-value problem:
In formula:
f1(t,φa(t), x (t), β (t), y (t))=- 0.0208x (t) -0.0165x (t)3-2.0327φa(t)+
0.743φa(t)3 -0.0643φa(t)5-ρπR4Lωy(t)cos(β(t))/2×1078000+188α(t)/1078000 f2
(t, x (t), β (t), y (t))=6R2x(t)cos(β(t))/(3R2+L2) -12My(t)/ρπR2Lω(3R2+L2)
Differential equation is carried out on time t to the differential equation, following numeric format can be obtained:
Wherein h is expressed as the iteration step length of time t, and k is expressed as the number of iterations, then it is horizontal can must to subtract ship when shaking gyro work
Cradle angle is with φaThe expression formula of time t transformation:
φak=φa(k-1)+hxk
Subtract ship rolling angle φ when shaking gyro workaStandard deviation S (φa) be；
N is sampling number in time t in formula, i ∈ N,For ship rolling angle φaAverage value.
(c) expression formula that ship stabilization gyro subtracts the rate of shaking is established.
Ship stabilization gyro subtracts the rate of shaking are as follows:
Subtract the rate of shaking:
Step (2): comprehensively consider to subtract and shake gyro to subtract the rate of shaking, occupied area, total quality and motor driven energy consumption selected
Objective function can supply power according to the mountable space size of ship's space, electric system and damper processing technology is difficult
The constraint condition of given parameters is spent, and then constructs ship stabilization gyro optimization model.
Particular content and method and step are as follows:
(a) selected target function
According to ship self structure and kinematic parameter, the mountable space in cabin, power-driven system output power, material knot
The key factors such as structure intensity propose evaluation index, shake rate TT comprising subtracting, subtract and shake gyro occupied area π R2, subtract and shake gyro entirety matter
Measure ρ π R2L, subtract and shake gyro driving motor rotation energy consumption ω, subtract and shake gyroscopic procession damped coefficient M etc., it can integrating representation are as follows:
min Z(x1,x2,...,xi,...,xn)
Wherein xi∈ (R, L, M, ω, TT ...)
(b) specifying constraint
According to the mountable space size of ship's space, it can provide and subtract the size constraint for shaking gyrorotor.Assuming that ship
The mountable bulk in oceangoing ship cabin is hIt is long×hIt is wide×hIt is high, then the radius R and thickness L of gyrorotor need to meet following constraint item
Part:
Power can be supplied according to Ship Electrical Power System, the constraint condition of motor speed can be provided.Assuming that power can be supplied
For PShip, due toWherein P is rated power, and T is nominal torque, then motor speed need to meet following constraint condition:
According to precession damper processing technology difficulty, the problems such as considering heat dissipation and intensity when damper work, can provide
The constraint condition of damper damped coefficient, may be expressed as: ZIt is low≤M≤ZIt is high, wherein ZIt is lowWith ZIt is highIt need to be big according to specific damper size
It is small to give concrete values.
Gyro shaken to subtracting of finding out of above-mentioned steps (1) subtract the rate TT of shaking and equally proposes constraint requirements:
TT≥a (0≤a≤1)
Then constraint condition can be summarized are as follows:
(c) ship stabilization gyro optimization model is constructed
According to above-mentioned objective function and constraint condition, ship stabilization gyro optimization model is established:
Further, building subtracts the highest ship stabilization gyro optimization model of the rate of shaking.
Rate highest is shaken it is required that subtracting, then can use objective function are as follows:
min Z(1-TT)
In view of ship's space can use installation space, Ship Electrical Power System can output power, damper designs require limitation
The problems such as, provide parameter and constraint condition.Motor speed is set to 3000r/min, subtracts the rate of shaking and is not less than 80%, then constraint condition table
It is shown as:
Foundation subtracts the highest ship stabilization gyro optimization model of the rate of shaking:
Further, the smallest ship stabilization gyro optimization model of rotor quality is constructed.
Usually it is related to light-weight design in optimization design Shi Douhui, i.e. quality is minimum.Therefore design: meeting one when subtracting rate of shaking
When provisioning request, the quality of gyrorotor is minimum, then objective function are as follows:
min Z(ρπR2L)
Density is indicated in formula ρ, according to depending on rotor material.
In view of ship's space can use installation space, Ship Electrical Power System can output power, damper designs require limitation
The problems such as, provide parameter and constraint condition.Motor speed is set to 3000r/min, subtracts the rate of shaking and is not less than 80%, then constraint condition table
It is shown as:
The smallest ship stabilization gyro optimization model of rotor quality can then be established:
Further, the smallest ship stabilization gyro optimization model of root diameter is constructed.
In view of the space of ship is limited, it is desirable to subtract shake gyro occupied area it is smaller, comparison subtract the basic knot for shaking gyro
The diameter of rotor known to structure shakes gyro overall dimensions and influences maximum on subtracting, therefore objective function is set as subtracting the diameter for shaking gyro minimum:
min Z(2R)
In view of ship's space can use installation space, Ship Electrical Power System can output power, damper designs require limitation
The problems such as, provide parameter and constraint condition.Motor speed is set to 3000r/min, subtracts the rate of shaking and is not less than 80%,
In view of root diameter and thickness relationship problem, rotor thickness is enabled to be less than radius.Then constraint condition may be expressed as:
The smallest ship stabilization gyro optimization model of root diameter can then be established:
Step (3): original subtract is shaken into gyro parameter as initial value, by most value solving-optimizing algorithm to ship stabilization top
Spiral shell optimization model is solved, and then is obtained to subtract and shaken gyro optimal value of the parameter.
Further, for constructing the smallest ship stabilization gyro optimization model of root diameter, the tool of step (3)
Hold in vivo and method and step be as follows:
(a) original subtract is shaken into gyro parameter R first, the initial value of M, L are respectively 0.5,0.4,600000.
(b) above-mentioned initial value is brought into ship stabilization gyro subtracts to shake in rate formula and calculate, calculate this group of parameter
Under optimization object function value.
(c) consider the objective function min Z (2R) and constraint condition in ship stabilization gyro optimization modelBy pattern search optimization algorithm, constantly calculating is brought in adjustment into Optimal Parameters constraint condition
Each Optimal Parameters numerical value, solve target function value min Z (2R).
It is (d) final to obtain the optimized parameter for meeting constraint condition Yu objective function requirement are as follows:
R=0.527, L=0.315, M=724300, TT=0.867
Further, the parameter after the optimization of above-mentioned gained is brought into subtract and is shaken in gyro and combined marine mathematical model, and
It is solved in matlab, the roll angle φ of Fig. 3 such as can be obtained and fluctuate comparison diagram, can significantly find out to subtract from figure and shake effect
Fruit.
Claims (7)
1. a kind of ship stabilization gyro parameter optimization method, characterized in that include the following steps:
(1) according to Ship Structure basic parameter and ship rolling motion basic parameter, ship rolling motion mathematical model is established, then
According to single-gimbal control momentum gyro torque equilibrium equation, gyro and combined marine motion mathematical model are established, calculates separately and subtracts
The standard deviation value that gyro does not work with ship rolling angle when work is shaken, and then establishes the expression that ship stabilization gyro subtracts the rate of shaking
Formula；
(2) comprehensively consider to subtract and shake gyro and subtract the rate of shaking, occupied area, total quality and motor driven energy consumption selected target function,
Power and damper processing technology difficulty given parameters can be supplied according to the mountable space size of ship's space, electric system
Constraint condition, and then construct ship stabilization gyro optimization model；
(3) original subtract is shaken into gyro parameter as initial value, it is excellent to ship stabilization gyro parameter by most value solving-optimizing algorithm
Change model to be solved, and then obtains to subtract and shake gyro optimal value of the parameter.
2. ship stabilization gyro parameter optimization method according to claim 1, characterized in that the particular content of step (1)
It is with method and step:
(a) it calculates to subtract and shakes ship rolling angle φ when gyro does not workbStandard deviation value
If hull own rotation inertia is Iφφ, additional mass rotary inertia is Jφφ, it is c that ship itself, which damps recovery coefficient,1、c3,
Ship self-recovery torque coefficient is k1、k3、k5, the displacement of ship is D, a height of h of the transverse stability of ship, wave model equation
For α (t), then ship rolling mathematical model is established are as follows:
φ in formulabFor ship rolling angle；
It enablesThen first order differential equation system initial-value problem is converted by above formula:
In formula:
Differential equation is carried out on time t to the differential equation, obtains following numeric format:
Wherein h is expressed as the iteration step length of time t, and k is expressed as the number of iterations, then must subtract and shake ship rolling angle when gyro does not work
With φbThe expression formula of time t transformation:
φbk=φb(k-1)+hxk
Subtract and shakes ship rolling angle φ when gyro does not workbStandard deviation S (φb) are as follows:
N is sampling number in time t in formula, i ∈ N,For ship rolling angle φbAverage value；
(b) it calculates and subtracts ship rolling angle φ when shaking gyro workaStandard deviation value
Hull own rotation inertia is Iφφ, additional mass rotary inertia is Jφφ, it is c that ship itself, which damps recovery coefficient,1、c3, ship
Oceangoing ship self-recovery torque coefficient is k1、k3、k5, the displacement of ship is D, and a height of h of the transverse stability of ship, wave model equation is α
(t), then it establishes to subtract and shakes gyro and combined marine mathematical model are as follows:
In formula:, φbFor ship rolling angle, β is to subtract to shake gyroscopic procession angle, and R is to subtract to shake gyrorotor radius, and L is to subtract to shake gyro turn
Sub- thickness, ω are rotor speed, and M is to subtract the damped coefficient for shaking gyroscopic procession direction；
It enablesThen first order differential equation system initial-value problem is converted by above formula:
In formula:
f1(t,φa(t), x (t), β (t), y (t))=- c1x(t)-c3x(t)3-k1φa(t)-k3φa(t)3-k5φa(t)5-h0y
(t)cos(β(t))/(Iφφ+Jφφ)+Dhα(t)/(Iφφ+Jφφ)
f2(t, x (t), β (t), y (t))=h0x(t)cos(β(t))/J-My(t)/J
Differential equation is carried out on time t to the differential equation, following numeric format can be obtained:
Wherein h is expressed as the iteration step length of time t, and k is expressed as the number of iterations, then must subtract shake gyro work when ship rolling angle with
φaThe expression formula of time t transformation:
φak=φa(k-1)+hxk
Subtract ship rolling angle φ when shaking gyro workaStandard deviation S (φa) be；
N is sampling number in time t in formula, i ∈ N,For ship rolling angle φaAverage value；
(c) expression formula that ship stabilization gyro subtracts the rate of shaking is established
Ship stabilization gyro subtracts the rate of shaking are as follows:
Subtract the rate of shaking:
3. ship stabilization gyro parameter optimization method according to claim 1, characterized in that the particular content of step (2)
It is with method and step:
(a) selected target function
It is strong according to ship self structure and kinematic parameter, the mountable space in cabin, power-driven system output power, material structure
The key factors such as degree propose evaluation index, shake rate TT comprising subtracting, subtract and shake gyro occupied area π R2, subtract and shake gyro total quality ρ π
R2L, subtract and shake gyro driving motor rotation energy consumption ω, subtract and shake gyroscopic procession damped coefficient M etc., integrating representation are as follows:
min Z(x1,x2,...,xi,...,xn)
Wherein xi∈ (R, L, M, ω, TT ...)
(b) specifying constraint
According to the mountable space size of ship's space, provides and subtract the size constraint for shaking gyrorotor.Assuming that ship's space
Mountable bulk be hIt is long×hIt is wide×hIt is high, then the radius R and thickness L of gyrorotor need to meet following constraint condition:
Power can be supplied according to Ship Electrical Power System, provides the constraint condition of motor speed；Assuming that can supply power is PShip, due toWherein P is rated power, and T is nominal torque, then motor speed need to meet following constraint condition:
According to precession damper processing technology difficulty, the problems such as considering heat dissipation and intensity when damper work, damper resistance is provided
The constraint condition of Buddhist nun's coefficient indicates are as follows: ZIt is low≤M≤ZIt is high, wherein ZIt is lowWith ZIt is highIt need to be according to specific damper size to concrete values；
Gyro shaken to subtracting of finding out of above-mentioned steps (1) subtract the rate TT of shaking and equally proposes constraint requirements:
TT≥a(0≤a≤1)
Then constraint condition is summarized are as follows:
(c) ship stabilization gyro optimization model is constructed
According to above-mentioned objective function and constraint condition, ship stabilization gyro optimization model is established:
4. ship stabilization gyro parameter optimization method according to claim 1, characterized in that the particular content of step (3)
It is with method and step:
(a) original subtract is shaken into gyro parameter R first, L, M, ω is as initial value；
(b) above-mentioned initial value is brought into ship stabilization gyro subtracts to shake in rate formula and calculate, calculate under this group of parameter
Optimization object function value；
(c) consider the objective function minZ (x in ship stabilization gyro optimization model1,x2,...,xi,...,xn) and about
Beam conditionBy optimization algorithm, constantly meter is brought in adjustment into the constraint condition of Optimal Parameters
The numerical value for each Optimal Parameters calculated, solving optimization target function value；
(d) final to obtain the optimized parameter for meeting constraint condition Yu objective function requirement.
5. ship stabilization gyro parameter optimization method according to claim 3, characterized in that building described in step (c)
Ship stabilization gyro optimization model further includes that building subtracts the highest ship stabilization gyro optimization model of the rate of shaking, specific interior
Hold and method be:
Rate highest is shaken it is required that subtracting, then takes objective function are as follows:
min Z(1-TT)
In view of ship's space can with installation space, Ship Electrical Power System can output power, damper designs require limitation and
Subtract the problems such as rate of shaking requires and provides constraint condition.Then constraint condition indicates are as follows:
Foundation subtracts the highest ship stabilization gyro optimization model of the rate of shaking:
6. ship stabilization gyro parameter optimization method according to claim 3, characterized in that building described in step (c)
Ship stabilization gyro optimization model further includes the building the smallest ship stabilization gyro optimization model of rotor quality, specifically
Content and method are:
When subtracting the rate of shaking and meeting sets requirement, the quality of gyrorotor is minimum, then objective function are as follows:
min Z(ρπR2L)
Density is indicated in formula ρ, according to depending on rotor material；
Consider ship's space can with installation space, Ship Electrical Power System can output power, damper designs require limitation and subtract
It shakes the problems such as rate requires and provides constraint condition, then constraint condition indicates are as follows:
Then establish the smallest ship stabilization gyro optimization model of rotor quality:
7. ship stabilization gyro parameter optimization method according to claim 3, characterized in that building described in step (c)
Ship stabilization gyro optimization model further includes the building the smallest ship stabilization gyro optimization model of root diameter, specifically
Content and method are:
Consider that the space of ship is limited, it is desirable to subtract shake gyro occupied area it is smaller, comparison, which subtracts, shakes known to the basic structure of gyro
The diameter of rotor shakes gyro overall dimensions and influences maximum on subtracting, therefore objective function is set as subtracting the diameter for shaking gyro minimum:
min Z(2R)
Consider ship's space can with installation space, Ship Electrical Power System can output power, damper designs require limitation, subtract the rate of shaking
It is required that and root diameter and the problems such as thickness relationship provide constraint condition, then constraint condition indicates are as follows:
Then establish the smallest ship stabilization gyro optimization model of root diameter:
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