Vertical movement control method for high-speed ferry boat based on Hinfinite loop shaping theory
A technology of vertical motion and control method, applied in vehicle position/route/height control, non-electric variable control, attitude control and other directions, can solve the problems of control and design methods lacking systematic design requirements, and reduce seasickness rate , easy to implement, simple structure effect
Active Publication Date: 2018-10-12
HARBIN ENG UNIV
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The above-mentioned documents only give some simple control methods, lack of control and design methods for systematic design requirements
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[0040] The present invention will be described in more detail below in conjunction with accompanying drawing:
[0041] combine Figure 1~3 , the present invention comprises the following steps:
[0042] Step 1: Combine figure 2 , use G to represent the transfer function matrix of the high-speed ferry object G=[G 11 ,G 12 ;G 21 ,G 22 ], where G 11 Represents the object transfer function of the heave circuit, G 22 object transfer function representing the pitch loop, G 12 and G 21 is the coupling transfer function between the heave and pitch loops.
[0043] According to the transfer function matrix G of the high-speed ferry, the object characteristic G of the heave circuit is obtained 11 and G 12 The natural frequency ω of the middle second-order oscillation link n1 ;
[0044] According to the method of complex pole compensation, the weight function W of the stern pressure corrugated plate 1 Molecules with the same natural frequency ω n1 , the damping ratio ξ 1 ...
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The invention relates to a vertical movement control method for a high-speed ferry boat based on a Hinfinite loop shaping theory. Weight functions W1 and W2 are selected, expected open-loop loop shaping objects Gs1 and Gs2 of heaving and pitching loops are designed, Hinfitie design is carried out, and a transfer function GF(s) of a stern wave suppression plate controller and a transfer function GT(s) of a T type hydrofoil controller are provided; ocean wave interference is introduced to simulate a closed-loop system; a heaving displacement signal h(t) and a pitching angle signal p(t) are collected, and output uF(t) of the stern wave suppression plate controller and output uT(t) of the T type hydrofoil controller are calculated; and a system sensitivity characteristic and open-loop Nyquistdiagram is drawn, a worst vertical acceleration and a seasick rate are calculated, whether requirements are met is determined, if NO, the weight functions are adjusted and design is carried out againtill the requirements are met. Compensation design of multiple poles is introduced, and it is ensured that the system is robust and stable and has excellent performances.
Description
technical field [0001] The invention relates to the technical field of high-speed ship motion attitude control, in particular to a ∞ A control method for the vertical motion of a high-speed ferry based on loop-shaping theory. Background technique [0002] Now the shipping industry is committed to the development of high-speed ships. When high-speed ships sail at high speed in waves, the vertical motion of the ship caused by waves, including heave and pitch, will form a vertical acceleration. If the vertical acceleration is too large, it may cause Making passengers on board seasick even poses a great threat to the safety of the ship. [0003] In order to effectively control and reduce the vertical acceleration caused by heave and pitch, ship manufacturers often install active control airfoils on high-speed ships as actuators, the most commonly used is the T-shaped airfoil installed near the bow. The hydrofoil and the stern stern plate, through the design of a multivariable ...
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IPC IPC(8): G05D1/08
CPCG05D1/0875
Inventor 刘彦文梁利华张松涛綦志刚周昌盛关博文张书浩
Owner HARBIN ENG UNIV