CN117022578A - Self-adaptive control method and realization device for wave-resistant stability-increasing hydrodynamic force of high-speed ship - Google Patents
Self-adaptive control method and realization device for wave-resistant stability-increasing hydrodynamic force of high-speed 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
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
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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
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
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Abstract
The invention discloses a self-adaptive control method and an implementation device for wave-resistant stability-increasing hydrodynamic force of a high-speed ship, and belongs to the field of self-adaptive control of wave-resistant stability-increasing hydrodynamic force of the high-speed ship. The invention comprises a stability augmentation device, a power driving device, a real-time monitoring module and a hydrodynamic optimization control module. The stability augmentation module comprises an active stability augmentation vector water jet propeller and a passive stability augmentation appendage, wherein the vector water jet propeller is arranged at a stern, and can rotate at multiple angles to actively adjust thrust vectors to form a control surface. The auxiliary bodies are arranged on two sides of the ship body, and each side of the auxiliary body is connected with the ship body through two mutually parallel electric connecting rods; the bottom of the electric connecting rod is connected with the ship body through the multi-angle rotating base, and the crank is electrically driven by the hydrodynamic force optimizing control module to move in different directions to drive the connecting rod and the appendage to do transverse movement and longitudinal movement. According to the invention, the ship attitude, the appendage position and the sea state information are obtained in real time through the sensor and the gyroscope which are arranged on the ship body, the monitoring data are brought into the hydrodynamic force optimal control system to calculate the optimal solution of the appendage position, and the wave-resistant stability-increasing hydrodynamic force self-adaptive control of the high-speed ship is realized according to the optimal solution of the appendage position.
Description
Technical Field
The invention relates to a hydrodynamic self-adaptive control method for high-speed ship wave resistance and stability augmentation and an implementation device thereof, belonging to the field of high-speed ship wave resistance and stability augmentation hydrodynamic self-adaptive control.
Background
The motion of the ship is greatly influenced by factors such as wind and waves, and the like, and the ship usually performs intense rolling motion and pitching motion in the waves, so that the problems of unstable posture, difficult control of hydrodynamic performance and the like are easily caused due to poor wave adaptability and sailing stability during high-speed sailing. The traditional ship achieves the effects of stabilizing and stabilizing by increasing bilge keels and stabilizer fins, but the method is poor in applicability, can obviously increase the navigation resistance of the ship in a still water environment, and cannot be adaptively adjusted according to specific sea conditions. The defects limit the application scene and the application range of the ship, and when the ship needs to navigate at high speed in a wave-exciting area and a shallow water area, the existing method cannot execute the operation task at high speed and navigate safely and stably in the area because stability-increasing adjustment and hydrodynamic force self-adaptive control in the wave cannot be realized.
Disclosure of Invention
In order to solve the problem of hydrodynamic force self-adaption of a ship under complex sea conditions, the main purpose of the invention is to provide a hydrodynamic force self-adaption control method and a realization device thereof for high-speed ship wave resistance stability enhancement, wherein the feedback of ship body gestures, body attachment positions and sea condition information is obtained in real time through various sensors arranged on the ship body, the optimal body attachment positions are solved in a hydrodynamic force optimization controller, and the gestures are quickly and effectively adjusted in cooperation with vector nozzles arranged on the stern part, so that the high-speed ship wave resistance stability enhancement hydrodynamic force self-adaption control is realized.
The invention aims at realizing the following technical scheme:
the invention discloses a self-adaptive control method for high-speed ship wave resistance stability augmentation hydrodynamic force, which is realized based on a high-speed ship wave resistance stability augmentation device, wherein a hydrodynamic force optimization controller is combined with various sensors arranged on a ship body to sense environment, ship body posture and navigational speed in real time, and drives an accessory body to move so as to adjust the posture of the ship body, thereby achieving the purpose of high-speed ship wave resistance stability augmentation, and comprises the following steps:
step one, a hydrodynamic force optimization controller adjusts positions of appendages at two sides according to a six-degree-of-freedom motion equation of a ship, wherein the six-degree-of-freedom motion equation of the ship is expressed as follows in an inertial coordinate system:
the forces { X, Y, Z } and the moments { K, M, N } represent the resultant force and moment of various external forces acting on the hull, wherein subscripts H, P, S, W in the formula represent the forces and moments under the external environmental conditions of the hull, the propeller, the appendage and the sea wave, respectively, I represents moment of inertia, p, q, r represent rotational angular velocities of the hull relative to the X, Y and Z axes, and u, v, w represent the linear velocities of the hull relative to the X, Y and Z axes, respectively;
step two, in order to avoid frequent movement of the appendage, filtering the sea waves by adopting a state observation method, and filtering the high-frequency motion of the disturbance of the sea waves in a feedback signal; based on passive theory, constructing a nonlinear state observer, wherein the form of a filter is as follows:
wherein ζ i ＞ζ n Zeta is damping of notch filter n Generally 0.01-0.1, omega c ＞ω n ，ω c For cut-off frequency omega n Measured by an ocean wave radar, n is low-frequency disturbance, s is a useful signal; the wave disturbance filter and the optimization control module are integrated, so that the control precision is improved;
step three, after the external environment interference is eliminated in the hydrodynamic force optimization controller, the longitudinal distance CL and the transverse distance ST of the attached body are adaptively adjusted for the ship body with a certain navigational speed V, and the navigational speed of the ship body is definedThe optimization target is a double-target optimization mode which meets the minimum resistance Rt/Disp and the minimum wave resistance index SKI under the unit drainage volume, and the objective function can be expressed as:
min Rt/Disp＝f(L/B,B/T,CL,ST,V)
min SKI＝g(CL,ST,V)
wherein L/B is the captain/the breadth, and B/T is the breadth/the draft.
And fourthly, restraining optimization conditions in order to ensure safe sailing of the ship body in the optimization process. The constraint condition is that the attitude angle of the ship body is set with a threshold value theta of the pitch angle max And transverse inclination thresholdIf theta > theta max Or->Stopping searching the optimal solution, transmitting the monitoring quantity to an optimal control module, and according to the restoration rolling moment K required by the ship body H And restoring pitching moment N H The calculation formula of (2) adjusts the appendage position, i.e. +.>Wherein Z is s Is subject to buoyancy by the appendage.
Fifthly, when the attitude angle of the ship body exceeds a safety threshold, the vector nozzle cooperates with the appendage to adjust the attitude of the ship body; (trim angle adjustment: when the trim angle of the hull exceeds the safety threshold, the vector nozzle is properly adjusted up and down, the direction of water jet is changed to provide thrust, the upward rotation of the vector nozzle can realize the improvement of bow tilt of the hull by 'lifting' the head of the hull, and the downward rotation of the vector nozzle can realize the improvement of stern tilt of the hull by 'pricking' the head of the hull, (2) roll angle adjustment: when the trim angle of the hull exceeds the safety threshold, the directions of the vector nozzles on the left side and the right side are opposite, respectively provide up and down thrust, if the hull is inclined to the starboard, the vector nozzle on the right side provides lifting force downwards, and the vector nozzle on the left side sprays water upwards to form roll restoring moment;
step six, when the attitude angle does not exceed the safety threshold, the hydrodynamic force optimization controller adopts a multi-objective genetic algorithm to iterate for a plurality of times according to the optimization objective function to obtain the optimal solution of the appendage position under different navigational speeds; establishing a Pareto multi-objective genetic algorithm optimal solution according to the superior relation of the solution, wherein decision variables are CL and ST, and if the optimal solution meets the following conditions:
wherein f suit The adaptation degree corresponding to the objective function is obtained; s, k are the sequence numbers of the objective function, X 1 、X 2 CL, ST at different positions of the appendage for a certain navigational speed V; at this time referred to as X 1 Can dominate X 2 If not, the optimal solution is a set; normalizing the optimal solution set, taking the distance between the optimal solution set and a preset ideal point as an evaluation index, and selecting the solution closest to the ideal point as an optimal solution; the solving steps are as follows:
Δf s ＝max{f s1 ,f s2 ,...f sn }-min{f s1 ,f s2 ,...f sn }
Δf s the difference between the maximum value and the minimum value of the s-th target in the optimal solution set is obtained;
the minimum value for the s-th object is expressed as: m is m s ＝min{f s1 ,f s2 ,...f sn Normalized to f is expressed as:representing the distance between each point in the optimal solution set and the ideal point; when f takes the minimum value, the optimal position where the appendage is placed corresponds to the optimal position, and the conditions of minimum resistance and best wave resistance performance are met at the optimal position, so that the hull can also guarantee stable and safe sailing in a high-speed state.
The invention discloses a high-speed ship wave-resistant stability-increasing device, which is used for realizing a high-speed ship wave-resistant stability-increasing hydrodynamic self-adaptive control method, and comprises a stability-increasing appendage, a wave radar, an attitude angle gyroscope, a multi-angle rotating base, a vector water-spraying propeller, a power driving module, an appendage longitudinal distance sensor, an appendage transverse distance sensor, an electric driving crank, an electric driving connecting rod and a hydrodynamic optimizing controller; the left side and the right side of the ship body are respectively provided with a vector water spraying propeller, the vector water spraying propeller is provided with a vector nozzle, can actively adjust a thrust vector in 360-degree rotation, forms a control surface, can realize operations such as ship steering, attitude adjustment and the like by changing the direction of the vector nozzle, and is used for controlling the left-right steering and also used for adjusting the thrust up and down; the stability augmentation appendage is arranged on two sides of the ship body and is connected with the ship body through two mutually parallel electric drive connecting rods and electric drive cranks; the bottom of the electric drive crank is movably connected with the ship body through the multi-angle rotating base, and the electric drive crank is movably connected with the electric drive connecting rod through a joint, so that the stability augmentation appendage can be driven to realize transverse movement and longitudinal movement.
The ship bow is provided with a wave radar, the position of the mass center is provided with a gesture angle gyroscope, the stern is provided with a power driving module, and the stability augmentation appendage is provided with a longitudinal distance sensor and a transverse distance sensor. The wave radar, the gyroscope and the sensor monitor data in real time, the data are transmitted to the hydrodynamic force optimizing controller to solve the optimal position of the appendage, and the system transmits a control signal to the power driving module to change the position of the appendage after the optimal position is solved.
Preferably, the electric driveTotal length L of crank and electrically driven connecting rod s ＝0.625B H The ratio of the two lengths is 1:2, length L of electric drive crank s1 By the formula L s1 ＝5/24B H Determining the length L of the electrically driven link s2 By the formula L s2 ＝5/12B H Determination, wherein B H Is the width of the hull.
Preferably, the distance between two electrically driven cranks on the same sideLength of stability augmentation appendage->Distance s between rotary support and bow 1 According to the formula: />And (5) determining.
Preferably, the drainage rate of the side body is not more than 10%, and the drainage rate of the attached body is ∈v 1 According to the equation 1 ＝(3％～7％)▽ 0 Determining, therein 0 Is the displacement of the hull.
The self-adaptive control method and the realization device for the wave-resistant stability-increasing hydrodynamic force of the high-speed ship ensure the robustness self-adaptation of a closed loop system when nonlinear errors exist, perform the optimization adjustment of the gesture and the stability-increasing appendage position in real time, and match the optimal stability-increasing appendage position under the current sea condition, thereby saving energy and being efficient.
The beneficial effects are that:
the invention has the advantages of compact and reasonable structure, and has the following advantages:
1. according to the wave-resistant stability-increasing hydrodynamic self-adaptive control method and the implementation device thereof, according to the changes of different sea conditions and ship navigational speeds, the transverse position and the longitudinal position of the stability-increasing appendage are self-adaptively optimized, so that the wave resistance and the resistance of the whole ship are changed, a wave high-frequency motion filter is added in a closed-loop control system, the system is relatively stable, the interference of wave high frequency is eliminated, and compared with the traditional method for installing bilge keels and stabilizer fins on the ship, the application range is wider and the wave-resistant stability-reducing effect is better.
2. According to the hydrodynamic self-adaptive control method and the implementation device for the high-speed ship wave resistance stability enhancement disclosed by the invention, constraint conditions of attitude angles are set, when the transverse inclination angle of the ship body exceeds a safety range, the appendage can be unfolded in time, the moment arm is increased, and a larger transverse inclination restoring moment is provided; when the trim angle of the hull is large, the appendage changes the longitudinal position, providing a large trim restoring moment. Meanwhile, the vector water jet propeller installed at the stern can provide up-and-down thrust in addition to the thrust required by left-and-right rotation by changing the direction of the vector nozzle, so as to assist in adjusting the attitude of the ship; the control system can not only enable the stability augmentation appendage to resist wave and drag, but also realize the adjustment of the ship body posture.
3. The invention discloses a hydrodynamic force self-adaptive control method for high-speed ship wave resistance and stability enhancement and a realization device thereof, which adopts a double-target optimization method, establishes a Pareto multi-target genetic algorithm optimal solution through a superior relation of the solution, coordinates different objective functions, namely an optimal objective function with minimum unit drainage volume resistance and wave resistance coefficient, has high convergence speed compared with the traditional algorithm, and can optimize a plurality of targets.
4. The invention discloses a hydrodynamic self-adaptive control method for high-speed ship wave resistance and stability enhancement and a realization device thereof, wherein the transverse and longitudinal positions of an appendage can be flexibly adjusted by utilizing a base which is arranged on a main ship body and rotates at multiple angles and an electrically driven connecting rod, and the electrically connected device can timely receive a control signal sent from a power driving module to finish the adjustment of the optimal position of the appendage. Compared with the traditional hull with fixed attachment position, the method has strong adaptability to the environment and can intelligently control the stability augmentation device.
Drawings
FIG. 1 is a simplified model diagram of an implementation of a marine vessel and wave-resistant stability augmentation hydrodynamic adaptive control in an embodiment;
FIG. 2 is a schematic view of a ship structure with adjustable attachment position according to an embodiment of the present invention;
FIG. 3 is a system flow diagram of a method of marine vessel hydrodynamic adaptive control;
FIG. 4 is an enlarged view of a portion of the connecting rod structure between the appendage and the hull;
the device comprises a 1-hull, a 2-wave radar, a 3-attitude angle gyroscope, a 4-stability augmentation appendage, a 5-multi-angle rotating base, a 6-optimal control module, a 7-vector water jet propeller, an 8-power driving module, an 8-appendage longitudinal distance sensor, a 9-appendage transverse distance sensor, a 10-joint, an 11-electric driving crank and a 12-electric driving connecting rod.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The catamaran model is adopted and simplified to a certain extent as shown in fig. 1, numerical simulation is carried out under the four-level sea condition under the direct-voyage working condition, and the main scale information of the main hull is as follows:
| parameters (parameters) | Length/m | Width/m | Draft/m | Drainage volume/m 3 | Coefficient of cross section |
| Numerical value | 3.6 | 0.9 | 0.1875 | 0.078 | 0.67 |
The total length of the electric drive crank and the electric drive connecting rod is L according to the size of the ship body S ＝0.625B H =0.5625m, length of electrically driven crank L S1 ＝5/24B H Length of electrically driven link l=0.1875m S2 ＝5/12B H =0.375 m. Distance between two electrically driven cranks on the same sideLength of stability augmentation appendageDistance between the rotatable support and the bow>The drainage of the two side bodies is not more than 10 percent of the total drainage, and the V is taken here 1 =8%, i.e. 4% drainage of a single appendage, a drainage volume of about 0.00312m 3 . The ship starts to travel at a speed of not more than 15 kn.
The stability augmentation device is arranged on a ship body, specifically, fig. 2 is a schematic top view of a ship provided with the stability augmentation device, two sides of the ship body are symmetrically provided with passive stability augmentation appendages 4, a wave radar 2 is arranged at the bow of the ship body, an attitude angle gyroscope 3 is arranged at the position of the mass center, a water jet propeller 7 is respectively arranged at the left side and the right side of the stern of the ship body, the appendages 4 are connected with the ship body through two mutually parallel electric connecting rods, and a longitudinal distance sensor 9 and a transverse distance sensor 10 are arranged on the appendages 4. The wave radar 2, the gyroscope 3 and the sensors 9 and 10 monitor data in real time, the real-time data are transmitted to the optimizing control module 6 to solve the optimal position of the appendage, and control signals are transmitted to the power driving module 8 to control the electric driving crank and the electric driving connecting rod. The electric drive crank is movably connected with the electric drive connecting rod through a joint 10, so that the accessory body can move transversely and longitudinally, as shown in figure 3.
FIG. 4 is a system flow chart of the ship hydrodynamic force self-adaptive control method, which specifically comprises the steps of establishing a ship space six-degree-of-freedom motion equation, designing a sea wave high-frequency filter, determining optimization objective functions and optimization condition constraints, establishing a Pareto multi-objective genetic algorithm optimal solution, and transmitting a control signal of the optimal solution to an electric connecting rod. The specific implementation steps are as follows:
step one, a hydrodynamic force optimization controller adjusts positions of appendages at two sides according to a six-degree-of-freedom motion equation of a ship, wherein the six-degree-of-freedom motion equation of the ship is expressed as follows in an inertial coordinate system:
the forces { X, Y, Z } and the moments { K, M, N } represent the resultant force and moment of various external forces acting on the hull, wherein subscripts H, P, S, W in the formula represent the forces and moments under the external environmental conditions of the hull, the propeller, the appendage and the sea wave, respectively, I represents moment of inertia, p, q, r represent rotational angular velocities of the hull relative to the X, Y and Z axes, and u, v, w represent the linear velocities of the hull relative to the X, Y and Z axes, respectively;
step two, in order to avoid frequent movement of the appendage, filtering the sea waves by adopting a state observation method, and filtering the high-frequency motion of the disturbance of the sea waves in a feedback signal; based on passive theory, constructing a nonlinear state observer, wherein the form of a filter is as follows:
wherein ζ i ＞ζ n Zeta is damping of notch filter n Generally 0.01-0.1, omega c ＞ω n ，ω c For cut-off frequency omega n Measured by an ocean wave radar, n is low-frequency disturbance, s is a useful signal; the wave disturbance filter and the optimization control module are integrated, so that the control precision is improved;
step three, after the external environment interference is eliminated in the hydrodynamic force optimization controller, the longitudinal distance CL and the transverse distance ST of the attached body are adaptively adjusted for the ship body with a certain navigational speed V, and the navigational speed of the ship body is definedThe optimization target is a double-target optimization mode which meets the minimum resistance Rt/Disp and the minimum wave resistance index SKI under the unit drainage volume, and the objective function can be expressed as:
min Rt/Disp＝f(L/B,B/T,CL,ST,V)
min SKI＝g(CL,ST,V)
wherein L/B is the captain/the breadth, and B/T is the breadth/the draft.
And fourthly, restraining optimization conditions in order to ensure safe sailing of the ship body in the optimization process. The constraint condition is that the attitude angle of the ship body is set with a threshold value theta of the pitch angle max And transverse inclination thresholdIf theta > theta max Or->Stopping searching the optimal solution, transmitting data to an optimal control module by a real-time monitoring module, and according to the restoration rolling moment K required by the ship body H And restoring pitching moment N H The calculation formula of (2) adjusts the appendage position, i.e. +.>Wherein Z is s Is subject to buoyancy by the appendage.
Fifthly, when the attitude angle of the ship body exceeds a safety threshold, the vector nozzle cooperates with the appendage to adjust the attitude of the ship body; (trim angle adjustment: when the trim angle of the hull exceeds the safety threshold, the vector nozzle is properly adjusted up and down, the direction of water jet is changed to provide thrust, the upward rotation of the vector nozzle can realize the improvement of bow tilt of the hull by 'lifting' the head of the hull, and the downward rotation of the vector nozzle can realize the improvement of stern tilt of the hull by 'pricking' the head of the hull, (2) roll angle adjustment: when the trim angle of the hull exceeds the safety threshold, the directions of the vector nozzles on the left side and the right side are opposite, respectively provide up and down thrust, if the hull is inclined to the starboard, the vector nozzle on the right side provides lifting force downwards, and the vector nozzle on the left side sprays water upwards to form roll restoring moment;
step six, on the premise of meeting optimization constraint conditions, adopting a multi-objective genetic algorithm for multiple iterations according to an optimization objective function to obtain optimal solutions of appendage positions at different navigational speeds; establishing a Pareto multi-objective genetic algorithm optimal solution according to the superior relation of the solution, wherein decision variables are CL and ST, and if the optimal solution meets the following conditions:
wherein f suit The adaptation degree corresponding to the objective function is obtained; s, k are the sequence numbers of the objective function, X 1 、X 2 Attachment is not carried out at a certain navigational speed VCL, ST at the same position; at this time referred to as X 1 Can dominate X 2 If not, the optimal solution is a set; normalizing the optimal solution set, taking the distance between the optimal solution set and a preset ideal point as an evaluation index, and selecting the solution closest to the ideal point as an optimal solution; the solving steps are as follows:
Δf s ＝max{f s1 ,f s2 ,...f sn }-min{f s1 ,f s2 ,...f sn }
Δf s the difference between the maximum value and the minimum value of the s-th target in the optimal solution set is obtained;
the minimum value for the s-th object is expressed as: m is m s ＝min{f s1 ,f s2 ,...f sn Normalized to f is expressed as:representing the distance between each point in the optimal solution set and the ideal point; when f takes the minimum value, the optimal position where the appendage is placed corresponds to the optimal position, and the conditions of minimum resistance and best wave resistance performance are met at the optimal position, so that the hull can also ensure stable and safe sailing in a high-speed state;
comparing simulation results of the rolling moment and the pitching moment of the bare hull and the hull after the stability augmentation appendage is installed, a conclusion can be obtained: the rolling moment of the ship body provided with the stability augmentation appendage is reduced by 15% under the four-stage sea condition, and the resistance of the appendage position after optimization is reduced by about 10%.
While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (5)
1. The self-adaptive control method for the wave-resistant stability-increasing hydrodynamic force of the high-speed ship is characterized by comprising the following steps of: the high-speed ship wave-resistant stability-increasing device is based on the realization, the hydrodynamic force optimization controller is combined with various sensors arranged on the ship body to sense the environment, the ship body posture and the navigational speed in real time, and the auxiliary body is driven to move to adjust the posture of the ship body under different navigational speeds, so that the purpose of high-speed ship wave-resistant stability-increasing is achieved;
the self-adaptive control method for the wave-resistant stability-increasing hydrodynamic force of the high-speed ship comprises the following steps:
step one, a hydrodynamic force optimization controller adjusts positions of appendages at two sides according to a six-degree-of-freedom motion equation of a ship, wherein the six-degree-of-freedom motion equation of the ship is expressed as follows in an inertial coordinate system:
the forces { X, Y, Z } and the moments { K, M, N } represent the resultant force and moment of various external forces acting on the hull, wherein subscripts H, P, S, W in the formula represent the forces and moments under the external environmental conditions of the hull, the propeller, the appendage and the sea wave, respectively, I represents moment of inertia, p, q, r represent rotational angular velocities of the hull relative to the X, Y and Z axes, and u, v, w represent the linear velocities of the hull relative to the X, Y and Z axes, respectively;
step two, in order to avoid frequent movement of the appendage, filtering the sea waves by adopting a state observation method, and filtering the high-frequency motion of the disturbance of the sea waves in a feedback signal; based on passive theory, constructing a nonlinear state observer, wherein the form of a filter is as follows:
wherein ζ i ＞ζ n Zeta is damping of notch filter n Generally 0.01-0.1, omega c ＞ω n ，ω c For cut-off frequency omega n Measured by an ocean wave radar, n is low-frequency disturbance, s is a useful signal; the wave disturbance filter and the optimization control module are integrated, so that the control precision is improved;
step three, after the external environment interference is eliminated in the hydrodynamic force optimization controller, the longitudinal distance CL and the transverse distance ST of the attached body are adaptively adjusted for the ship body with a certain navigational speed V, and the navigational speed of the ship body is definedThe optimization target is a double-target optimization mode which meets the minimum resistance Rt/Disp and the minimum wave resistance index SKI under the unit drainage volume, and the objective function can be expressed as:
minRt/Disp＝f(L/B,B/T,CL,ST,V)
minSKI＝g(CL,ST,V)
wherein L/B is the captain/the breadth, and B/T is the breadth/the draft.
And fourthly, restraining optimization conditions in order to ensure safe sailing of the ship body in the optimization process. The constraint condition is that the attitude angle of the ship body is set with a threshold value theta of the pitch angle max And transverse inclination thresholdIf theta > theta max Or->Stopping searchingThe optimal solution, the monitoring quantity is transmitted to an optimal control module, and according to the restoration rolling moment K required by the ship body H And restoring pitching moment N H The calculation formula of (2) adjusts the appendage position, i.e. +.>Wherein Z is s Is subject to buoyancy by the appendage.
Fifthly, when the attitude angle of the ship body exceeds a safety threshold, the vector nozzle cooperates with the appendage to adjust the attitude of the ship body; (trim angle adjustment: when the trim angle of the hull exceeds the safety threshold, the vector nozzle is properly adjusted up and down, the direction of water jet is changed to provide thrust, the upward rotation of the vector nozzle can realize the improvement of bow tilt of the hull by 'lifting' the head of the hull, and the downward rotation of the vector nozzle can realize the improvement of stern tilt of the hull by 'pricking' the head of the hull, (2) roll angle adjustment: when the trim angle of the hull exceeds the safety threshold, the directions of the vector nozzles on the left side and the right side are opposite, respectively provide up and down thrust, if the hull is inclined to the starboard, the vector nozzle on the right side provides lifting force downwards, and the vector nozzle on the left side sprays water upwards to form roll restoring moment;
step six, on the premise of meeting optimization constraint conditions, adopting a multi-objective genetic algorithm for multiple iterations according to an optimization objective function to obtain optimal solutions of appendage positions at different navigational speeds; establishing a Pareto multi-objective genetic algorithm optimal solution according to the superior relation of the solution, wherein decision variables are CL and ST, and if the optimal solution meets the following conditions:
wherein f suit The adaptation degree corresponding to the objective function is obtained; s, k are the sequence numbers of the objective function, X 1 、X 2 CL, ST at different positions of the appendage for a certain navigational speed V; at this time referred to as X 1 Can dominate X 2 If not, the optimal solution is a set; normalizing the optimal solution set, taking the distance between the optimal solution set and a preset ideal point as an evaluation index, and selecting the solution closest to the ideal point as an optimal solution; the solving steps are as follows:
Δf s ＝max{f s1 ,f s2 ,...f sn }-min{f s1 ,f s2 ,...f sn }
Δf s the difference between the maximum value and the minimum value of the s-th target in the optimal solution set is obtained;
the minimum value for the s-th object is expressed as: m is m s ＝min{f s1 ,f s2 ,...f sn Normalized to f is expressed as:representing the distance between each point in the optimal solution set and the ideal point; when f takes the minimum value, the optimal position where the appendage is placed corresponds to the optimal position, and the conditions of minimum resistance and best wave resistance performance are met at the optimal position, so that the hull can also guarantee stable and safe sailing in a high-speed state.
2. The high-speed ship wave-resistant stability-increasing device is used for realizing the self-adaptive control method for the wave-resistant stability-increasing hydrodynamic force of the high-speed ship according to the claim 1, and is characterized in that: the device comprises a stability augmentation appendage, a wave radar, an attitude angle gyroscope, a multi-angle rotating base, a vector water-jet propeller, a power driving module, an appendage longitudinal distance sensor, an appendage transverse distance sensor, an electric driving crank, an electric driving connecting rod and a hydrodynamic optimization controller; the left side and the right side of the ship body are respectively provided with a vector water spraying propeller, and the vector water spraying propeller is provided with a vector nozzle, can actively adjust a thrust vector in 360-degree rotation, and forms a control surface; the steering, posture adjustment and other operations of the ship can be realized by changing the direction of the vector nozzle, and the steering, posture adjustment and other operations are used for controlling left and right steering and also for adjusting thrust up and down;
the stability augmentation appendage is arranged on two sides of the ship body and is connected with the ship body through two mutually parallel electric drive connecting rods and electric drive cranks; the bottom of the electric drive crank is movably connected with the ship body through a multi-angle rotating base. The electric drive crank is movably connected with the electric drive connecting rod through a joint, so that the stability augmentation appendage can be driven to realize transverse movement and longitudinal movement;
the ship bow is provided with a wave radar, the position of the mass center is provided with a gesture angle gyroscope, the stern is provided with a power driving module, and the stability augmentation appendage is provided with a longitudinal distance sensor and a transverse distance sensor. The wave radar, the gyroscope and the sensor monitor data in real time, the data are transmitted to the hydrodynamic force optimizing controller to solve the optimal position of the appendage, and the system transmits a control signal to the power driving module to change the position of the appendage after the optimal position is solved.
3. The high-speed vessel wave-resistant stability augmentation apparatus of claim 2, wherein: total length L of crank and connecting rod s ＝0.625B H The ratio of the length of the crank to the length of the connecting rod is 1:2 length L of crank s1 By the formula L s1 ＝5/24B H Determining the length L of the connecting rod s2 By the formula L s2 ＝5/12B H Determination, wherein B H Is the width of the hull.
4. The high-speed vessel wave-resistant stability augmentation apparatus of claim 2, wherein: distance between two electrically driven cranks on the same sideLength of stability augmentation appendage->Distance s between rotary support and bow 1 According to the formula: />And (5) determining.
5. The high-speed vessel wave-resistant stability augmentation apparatus of claim 2, wherein: the water discharge rate is not more than 10%, and the water discharge rate of the stability-enhancing appendage is increasedAccording to the formula->Determining, wherein->Is the displacement of the hull.
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| CN117533473B (en) * | 2024-01-09 | 2024-04-12 | 上海新纪元机器人有限公司 | Ship with parallel robot device and self-balancing method |
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