CN114036633A - Fusion method for calculating dynamic lift of fin - Google Patents

Fusion method for calculating dynamic lift of fin Download PDF

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CN114036633A
CN114036633A CN202111298313.6A CN202111298313A CN114036633A CN 114036633 A CN114036633 A CN 114036633A CN 202111298313 A CN202111298313 A CN 202111298313A CN 114036633 A CN114036633 A CN 114036633A
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CN114036633B (en
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宋吉广
梁利华
吉明
史洪宇
张松涛
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Abstract

The invention provides a fusion method for calculating dynamic lift force of fins, which comprises the following steps: (1) pairing the effective angle of attack alpha by Bayesian filteringeCarrying out optimal estimation; (2) for dynamic lift force FF1Calculating; (3) by using hydrodynamic force on the fin and driving the finThe lift force generated on the fins is calculated through the moment balance of the hydraulic cylinder; (4) by using sensor fusion technique, the dynamic lift force F obtained by the two methodsF1And FF2Performing fusion estimation to obtain accurate lift force FF. The method clearly estimates the problems of the effective attack angle and the dynamic lift force which affect the fin angle feedback stabilizer fin respectively, and the common pressure sensor and the fin angle sensor are utilized to obtain the estimated value of the dynamic lift force respectively. And then the data of the two sensors are fused to obtain more accurate dynamic lift force.

Description

Fusion method for calculating dynamic lift of fin
Technical Field
The invention relates to the technical field of rolling reduction of ship fin stabilizers, in particular to a fusion method for calculating dynamic lift force of fins.
Background
The fin stabilizer is an active ship stabilizer which is widely applied at present, can effectively reduce the rolling motion of a ship when the ship sails in waves, and improves the wave resistance of the ship, the use sea condition of equipment and the comfort of personnel.
The currently applied fin stabilizer mainly obtains a ship rolling angle, an angular velocity and an angular acceleration through an inertia measuring element arranged near the gravity center of a ship, calculates disturbance moment of sea waves by utilizing a built-in ship rolling motion equation, and calculates stable moment to be provided on the fin according to a moment countermeasure principle. The required stabilizing moment is converted into the effective attack angle of the fin and transmitted to the servo system, and the servo system drives the fin to move to a given angle to generate an actual stabilizing moment.
There are two aspects to the above process that cause the actual stabilizing moment generated on the fin to be in error with the required stabilizing moment:
1. the static lift coefficient is used in the process of converting the stabilizing moment into the effective attack angle, and the actual fin swings randomly along with the wave disturbance. The dynamic lift coefficient on the fins is much more complex than the static lift coefficient during oscillation. Fig. 1 is a comparison of the static lift coefficient and the dynamic lift coefficient on a fin during sinusoidal motion. It can be seen that the static lift coefficient and the dynamic lift coefficient vary with the period and the fin angle during the sinusoidal motion. This relationship is more complicated with random motion.
2. Since the effective angle of attack cannot be measured directly, servo systems typically use the effective angle of attack commands given by mechanical fin angle tracking control systems. However, there are sometimes large errors between the mechanical fin angle and the effective angle of attack due to coupling between the fins and the bilge keels, fins and hull, sea turbulence, and other degrees of freedom motions.
If the lift force generated on the fin blades of the fin stabilizer can be directly measured, and the control system gives a lift force instruction instead of an effective attack angle instruction, the lift force feedback of the fin stabilizer servo system can be realized, so that the two problems can be avoided, more accurate and stable dynamic stability moment can be obtained, and the stabilizing effect of the fin stabilizer is effectively improved.
However, lift measurement is much more difficult than fin angle measurement due to the dynamic working environment in which the fins are located. For this reason, the united states Sperry company measures the lift force on the fin by using a hollow fin axis method, however, the method causes the fin axis to be very difficult to process, and the fin axis has very small rigidity deformation due to safety considerations, which also causes the measurement difficulty. Meanwhile, the method has no universality and difficult maintenance to equipment with different models, so that the method is not widely applied. The company ROLLS-ROYCE in UK measures the rising force of a fin by a method of installing a strain gauge on a cross shaft body, wherein the cross shaft body also belongs to a stress key part, so that the strain is extremely small, and the method also has the problem of difficult maintenance.
The domestic research on the lift force feedback stabilizer fin is concentrated on a ship stabilizer and control technology subject group at Harbin university of engineering, and Giming firstly analyzes the problem of fin angle feedback in a lift force feedback control stabilizer fin system, carries out theoretical research on the lift force feedback stabilizer fin and points out the advantages of the lift force feedback stabilizer fin. The research on the lift force/fin angle integrated control stabilizer fin and the control strategy thereof in the doctor paper of doctor Liang Yanhua and the research on the design and control of a stabilizer fin system with dynamic lift force feedback in the doctor paper of doctor Sun Ming have studied the lift force measurement method of the bearing load, and the doctor Sun Ming has improved the measurement scheme of Sperry company and designed the laser ranging type fin shaft mechanical structure. These methods also have the inevitable disadvantages of complicated structure and high cost.
Disclosure of Invention
The invention aims to provide a fusion method for accurately calculating the dynamic lift force of a fin, which aims to obtain the optimal estimation of the effective attack angle and the dynamic lift force by fully utilizing a relation equation of a mechanical fin angle and the effective attack angle and a model between the pressure and the lift force of an oil cylinder.
A fusion method for calculating dynamic lift of fins comprises the following steps:
step 1: pairing the effective angle of attack alpha by Bayesian filteringeCarrying out optimal estimation;
step 2: for dynamic lift force FF1Calculating;
and step 3: calculating the lift force generated on the fin by using the hydrodynamic force borne on the fin and the moment balance of a hydraulic cylinder for driving the fin;
and 4, step 4: by using sensor fusion technique, the dynamic lift force F obtained by the two methodsF1And FF2Performing fusion estimation to obtain accurate lift force FF。
Further, the step 1 specifically comprises:
effective angle of attack alpha on the fineCan be expressed as:
αe＝αm+αw+αs+αpu
in the formula, alphamIs the mechanical fin angle, αsIs the pitch angle, alpha, of the vesselpuFor the influence of the rolling motion of the vessel on the effective angle of attack of the fins, alphapuArctan (rp/U) ≈ rp/U, r denotes the distance between the fin and the center of gravity of the hull, p denotes the roll angular velocity of the ship, and U denotes the speed of the ship.
Effective angle of attack expression of fin convertible to alpham+αs+αpu＝αe-αwWritten in standard form
X＝F(I)+v
Wherein X is αm+αs+αpuFor the measurements, I is the effective angle of attack, v ═ αwViewed as random disturbance, the estimated value of I is expressed as
Figure BDA0003337234880000021
Risk is estimated according to BayesIs expressed as
Figure BDA0003337234880000022
Wherein P (X) represents the probability distribution of the measured values, P (I | X) represents the posterior probability,
Figure BDA0003337234880000031
is a loss function. The maximum a posteriori estimate of the effective angle of attack I is
Figure BDA0003337234880000032
Further, the step 2 specifically comprises:
the lift on the fin is expressed as:
Figure BDA0003337234880000033
where rhowFluid (sea water) density, A is fin area, CL(αe) The lift coefficient of the fin. v. of1Error terms caused by the dynamic lift are calculated by adopting the static lift coefficient.
Further, the step 3 specifically includes:
the moment balance equation borne by the hydraulic cylinder is as follows:
Figure BDA0003337234880000034
in the formula MmDrive torque supplied to the hydraulic cylinder, MsHydrodynamic moment on the fin, MfIs the friction torque between the fin axis and the hull, MuThe moment of imbalance of gravity and buoyancy to which the fin blades are subjected, and J is the moment of inertia including the rocker arm, the fin shaft and the fin blades.
Drive torque MmCan be expressed as:
Mm＝At(p1-p2)L1cosαm
in the formula AtThe effective area of the hydraulic cylinder is shown, namely the sum of the areas of the rod cavity and the rodless cavity of the hydraulic cylinder. p is a radical of1And p2The fins represent the pressure in the rodless chamber of the hydraulic cylinder (10.1) and the rod chamber of the hydraulic cylinder (10.1), i.e. the measured values of the pressure sensors (11.1) and (11.2), respectively. L is1The distance from the center of the lug ring pivot of the hydraulic cylinder to the center of the fin shaft.
Hydrodynamic moment M on the finsCan be approximately expressed as
Ms＝-FF2L2/cosαm
In the formula FF2For lift provided on the fins, L2The distance between the acting point of the equivalent lift on the fin and the axis of the fin.
Can be synthesized to obtain
Figure BDA0003337234880000035
Distance L of lift force action center relative to fin axis2Can be expressed as
Figure BDA0003337234880000041
In the formula CL、CDAnd CmThe lift coefficient, drag coefficient and torque coefficient of the fin were determined experimentally. L iscIs the mean chord length, LaIs the distance from the axis of the fin to the edge of the middle chord. Alpha is alphaeThe optimal estimate of the effective angle of attack in step 1 is used.
Combined lifting force FF2Can be expressed as
Figure BDA0003337234880000042
Further, the step 4 specifically includes:
to FF1And FF2Performing fusion estimationObtained according to Bayes' theorem
Figure BDA0003337234880000043
In the formula P (F)F|FF1,FF2) To combine posterior probabilities, P (F)F1,FF1|FF) For likelihood probability, P (F)F) And P (F)F1,FF2) Is the probability of the corresponding value. F can be obtainedFIs estimated as
Figure BDA0003337234880000044
Can obtain a lift force FFThe fused estimate of (a). Therefore, the dynamic lift force generated on the fin can be accurately calculated.
Compared with the prior art, the invention has the beneficial effects that:
(1) the hydraulic oil pressure sensor is utilized to realize lift force measurement, and the hydraulic oil pressure sensor has low cost, simple structure and high reliability;
(2) the pressure sensor is arranged in the cabin, and the pressure sensor is convenient to replace and maintain;
(3) the method is very suitable for reforming the original ship-loading stabilizer fin, and can be completed only by additionally arranging the pressure sensors in the two main oil pipes for driving the fin to rotate, introducing the pressure sensors into the control box and correspondingly modifying software of the control box.
Drawings
FIG. 1 comparison of fin mode static lift coefficient and dynamic lift coefficient;
FIG. 2 is a schematic illustration of moment balancing;
fig. 3 shows a hydraulic schematic diagram of a fin stabilizer servo system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Step 1: effective angle of attack alpha on the fineCan be expressed as a mechanical fin angle alphamAngle of pitch alpha of shipsInfluence term alpha of ship rolling motion on effective attack angle of finpuAnd a disturbance term αwBy Bayesian filtering on alphaeAnd carrying out optimal estimation.
Effective angle of attack alpha on the fineCan be expressed as
αe＝αm+αw+αs+αpu (1)
In the formula, alphamFor mechanical fin angles, direct measurements can be made using a feedback unit mounted on the fin axis.
αsFor the ship pitch angle, the influence of the pitch on the effective attack angle of the fin is considered.
αpuFor the influence of the rolling motion of the vessel on the effective angle of attack of the fins, alphapuThe distance between the fin and the center of gravity of the hull is approximately equal to rpu/U, r represents the distance between the fin and the center of gravity of the hull, p represents the roll angular velocity of the ship, and U represents the navigational speed of the ship, and the water velocity is obtained by means of an odometer.
Because the inertial measurement unit adopted by the existing fin stabilizer is a multi-freedom sensor and the navigational speed U is a necessary signal of the fin stabilizer, the inertial measurement unit is opposite to alphasAnd alphapuThe calculation of (a) does not require any hardware changes.
αwIs a random interference term. The wave and current disturbance, the change of the current direction, the influence of the bilge keel and the ship body on the flow field and the like can be attributed to the items. This term is an undetectable term.
Albeit alphawCannot be obtained, but the magnitude of its variance can be determined from knowledge of ocean engineering. Effective angle of attack expression of fin convertible to alpham+αs+αpu＝αe-αwWritten in standard form
X＝F(I)+v (2)
Wherein X is αm+αs+αpuFor the measurements, I is the effective angle of attack, v ═ αwViewed as random disturbance, the estimated value of I is expressed as
Figure BDA0003337234880000054
According to Bayesian estimation, the risk expression is
Figure BDA0003337234880000051
Wherein P (X) represents the probability distribution of the measured values, P (I | X) represents the posterior probability,
Figure BDA0003337234880000052
is a loss function. The maximum a posteriori estimate of the effective angle of attack I is
Figure BDA0003337234880000053
According to the above formula, the optimal estimation of the effective attack angle can be obtained, i.e. the optimal estimation is the I when P (I | X) is the maximum value.
Step 2, calculating the dynamic lift force, and recording the lift force deviation caused by the dynamic lift force coefficient and the static lift force coefficient as v1The lift formula on the fin can be utilized
Figure BDA0003337234880000061
Representing the dynamic lift on the fin.
The lift on the fin is shown as
Figure BDA0003337234880000062
Where rhowFluid (sea water) density, A is fin area, CL(αe) The lift coefficient of the fin. v. of1Error terms caused by the dynamic lift are calculated by adopting the static lift coefficient.
And step 3: the lift generated on the fin can be calculated using the hydrodynamic forces experienced on the fin and the moment balance of the hydraulic cylinder driving the fin, as shown in fig. 2. Taking the difference value of the actual hydrodynamic center relative to the hydrodynamic center calculated by an empirical formula as the random disturbance v2The dynamic lift force F generated on the fin can be obtainedF2。
The hydraulic schematic diagram of the fin stabilizer is shown in fig. 3, and an alternating current motor 7 drives a variable pump 8 to rotate to provide hydraulic power required by the fin stabilizer, so that a closed hydraulic loop is formed. The hydraulic oil in the loop drives the piston rods of the hydraulic cylinders 10.1 and 10.2 to extend and retract, and further drives the rocker arm 12 and the fin 13 to move. The direction and speed of the rotating fins is determined by the direction and inclination of the swash plate in the pump. The pressure on the high-pressure side of the closed hydraulic circuit is determined by the load on the rocker arm, and the pressure on the high-pressure side and on the low-pressure side can be obtained by means of the pressure sensors 11.1 and 11.2.
Based on FIG. 3, the moment balance equation borne by the hydraulic cylinder can be written as
Figure BDA0003337234880000063
In the formula MmDrive torque supplied to the hydraulic cylinder, MsHydrodynamic moment on the fin, MfIs the friction torque between the fin axis and the hull, MuThe moment of imbalance of gravity and buoyancy to which the fin blades are subjected, and J is the moment of inertia including the rocker arm, the fin shaft and the fin blades.
In fig. 3: 1 is an oil tank; 2, 5 and 9 are oil filters; 3 is an oil temperature sensor; 4 is the oil level sensor; 6 is a ball valve; 7 is a motor; 8 is a variable pump; 10 is a fin rotating hydraulic cylinder; 11 is a pressure sensor; 12 is a rocker arm; 13 is a fin; 14 is a cooler
In the formula (6), the unbalanced moment MfAccording to the structure and mechanical rotation angle alpha of the finmAnd (6) accurately calculating. Frictional moment MfFriction coefficient and fin angular velocity d alpha obtained by experimentmThe/dt is accurately calculated. The rotational inertia J can be accurately calculated according to the rocker arm structure, the fin shaft structure, the fin blade structure and the assembly relation among the rocker arm structure, the fin shaft structure and the fin blade structure. Drive torque MmCan be expressed as
Mm＝At(p1-p2)L1cosαm (7)
In the formula AtRepresenting the effective area of the cylinder, i.e. the rod chamber of the cylinder andsum of the area of the rodless cavity. p is a radical of1And p2The fins represent the pressure in the rodless chamber of cylinder 10.1 (connected to the rodless chamber of cylinder 10.2) and in the rodless chamber of cylinder 10.1 (connected to the rodless chamber of cylinder 10.2), respectively, i.e. the measured values of pressure sensors 11.1 and 11.2. L is1The distance from the center of the lug ring pivot of the hydraulic cylinder to the center of the fin shaft.
Hydrodynamic moment M on the finsCan be approximately expressed as
Ms＝-FF2L2/cosαm (8)
In the formula FF2For lift provided on the fins, L2The distance between the acting point of the equivalent lift on the fin and the axis of the fin. By combining the formulas (6), (7) and (8), the results are obtained
Figure BDA0003337234880000071
In the formula (8), the distance L between the center of action of the lift force and the axis of the fin2Can be expressed as
Figure BDA0003337234880000072
In the formula CL、CDAnd CmThe lift coefficient, drag coefficient and torque coefficient of the fin were determined experimentally. L iscIs the mean chord length, LaIs the distance from the axis of the fin to the edge of the middle chord. α in the formula (10)eThe optimal estimate of the effective angle of attack in step 1 is used. At the same time, C is mixedL、CDAnd CmThe error due to the use of static coefficients and the error due to the empirical formula (10) itself are attributed to the random perturbation term v2. Lift F combining equations (9) and (10)F2Can be expressed as
Figure BDA0003337234880000073
And 4, step 4: the fusion estimation is carried out on the dynamic lift force,by using sensor fusion technique, the dynamic lift force F obtained by the two methodsF1And FF2Performing fusion estimation to obtain accurate lift force FF。
To increase the lift force FFAccuracy of estimation, for the dynamic lift F obtained using equation (5) and equation (11)F1And FF2Performing fusion estimation, and obtaining the result according to Bayes' theorem
Figure BDA0003337234880000074
In the formula P (F)F|FF1,FF2) To combine posterior probabilities, P (F)F1,FF1|FF) For likelihood probability, P (F)F) And P (F)F1,FF2) Is the probability of the corresponding value. F can be obtainedFIs estimated as
Figure BDA0003337234880000081
Based on the formula (13), the lift force F can be obtainedFThe fused estimate of (a). Therefore, the dynamic lift force generated on the fin can be accurately calculated.

Claims (5)

1. A fusion method for calculating dynamic lift of fins is characterized by comprising the following steps: the method comprises the following steps:
step 1: pairing the effective angle of attack alpha by Bayesian filteringeCarrying out optimal estimation;
step 2: for dynamic lift force FF1Calculating;
and step 3: calculating the lift force generated on the fin by using the hydrodynamic force borne on the fin and the moment balance of a hydraulic cylinder for driving the fin;
and 4, step 4: by using sensor fusion technique, the dynamic lift force F obtained by the two methodsF1And FF2Performing fusion estimation to obtain accurate lift force FF。
2. The fusion method for calculating the dynamic lift of the fin according to claim 1, wherein the fusion method comprises the following steps: the step 1 specifically comprises the following steps:
effective angle of attack alpha on the fineCan be expressed as:
αe＝αm+αw+αs+αpu
in the formula, alphamIs the mechanical fin angle, αsIs the pitch angle, alpha, of the vesselpuFor the influence of the rolling motion of the vessel on the effective angle of attack of the fins, alphapuArctan (rp/U) ≈ rp/U, r denotes the distance between the fin and the center of gravity of the hull, p denotes the roll angular velocity of the ship, and U denotes the speed of the ship.
Effective angle of attack expression of fin convertible to alpham+αs+αpu＝αe-αwWritten in standard form
X＝F(I)+v
Wherein X is αm+αs+αpuFor the measurements, I is the effective angle of attack, v ═ αwViewed as random disturbance, the estimated value of I is expressed as
Figure FDA0003337234870000014
According to Bayesian estimation, the risk expression is
Figure FDA0003337234870000011
Wherein P (X) represents the probability distribution of the measured values, P (I | X) represents the posterior probability,
Figure FDA0003337234870000015
is a loss function. The maximum a posteriori estimate of the effective angle of attack I is
Figure FDA0003337234870000012
3. The fusion method for calculating the dynamic lift of the fin according to claim 1, wherein the fusion method comprises the following steps: the step 2 specifically comprises the following steps:
the lift on the fin is expressed as:
Figure FDA0003337234870000013
where rhowFluid (sea water) density, A is fin area, CL(αe) The lift coefficient of the fin. v. of1Error terms caused by the dynamic lift are calculated by adopting the static lift coefficient.
4. The fusion method for calculating the dynamic lift of the fin according to claim 1, wherein the fusion method comprises the following steps: the step 3 specifically comprises the following steps:
the moment balance equation borne by the hydraulic cylinder is as follows:
Figure FDA0003337234870000021
in the formula MmDrive torque supplied to the hydraulic cylinder, MsHydrodynamic moment on the fin, MfIs the friction torque between the fin axis and the hull, MuThe moment of imbalance of gravity and buoyancy to which the fin blades are subjected, and J is the moment of inertia including the rocker arm, the fin shaft and the fin blades.
Drive torque MmCan be expressed as:
Mm＝At(p1-p2)L1cosαm
in the formula AtThe effective area of the hydraulic cylinder is shown, namely the sum of the areas of the rod cavity and the rodless cavity of the hydraulic cylinder. p is a radical of1And p2The fins represent the pressure in the rodless chamber of the hydraulic cylinder (10.1) and the rod chamber of the hydraulic cylinder (10.1), i.e. the measured values of the pressure sensors (11.1) and (11.2), respectively. L is1The distance from the center of the lug ring pivot of the hydraulic cylinder to the center of the fin shaft.
Hydrodynamic moment M on the finsCan be approximately expressed as
Ms＝-FF2L2/cosαm
In the formula FF2For lift provided on the fins, L2The distance between the acting point of the equivalent lift on the fin and the axis of the fin.
Can be synthesized to obtain
Figure FDA0003337234870000022
Distance L of lift force action center relative to fin axis2Can be expressed as
Figure FDA0003337234870000023
In the formula CL、CDAnd CmThe lift coefficient, drag coefficient and torque coefficient of the fin were determined experimentally. L iscIs the mean chord length, LaIs the distance from the axis of the fin to the edge of the middle chord. Alpha is alphaeThe optimal estimate of the effective angle of attack in step 1 is used.
Combined lifting force FF2Can be expressed as
Figure FDA0003337234870000031
5. The fusion method for calculating the dynamic lift of the fin according to claim 1, wherein the fusion method comprises the following steps: the step 4 specifically comprises the following steps:
to FF1And FF2Performing fusion estimation, and obtaining the result according to Bayes' theorem
Figure FDA0003337234870000032
In the formula P (F)F|FF1,FF2) To combine posterior probabilities, P (F)F1,FF1|FF) For likelihood probability, P (F)F) And P (F)F1,FF2) Is the probability of the corresponding value. F can be obtainedFIs estimated as
Figure FDA0003337234870000033
Can obtain a lift force FFThe fused estimate of (a). Therefore, the dynamic lift force generated on the fin can be accurately calculated.
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