An Active Compliance Control Method for Marine Fins Based on Fluid-Structure Interaction

A control method and fluid-solid coupling technology, applied in the general control system, adaptive control, control/regulation system, etc., can solve the problems that the system cannot achieve the required control effect, so as to improve the impedance control effect and reduce the steady-state error , Adjust the effect of time reduction

Active Publication Date: 2022-06-21
HARBIN UNIV OF SCI & TECH
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Problems solved by technology

However, the impedance control parameters obtained in many cases cannot make the system achieve the required control effect, and further optimization of the impedance parameters is required.

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  • An Active Compliance Control Method for Marine Fins Based on Fluid-Structure Interaction
  • An Active Compliance Control Method for Marine Fins Based on Fluid-Structure Interaction
  • An Active Compliance Control Method for Marine Fins Based on Fluid-Structure Interaction

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Embodiment Construction

[0071] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described below through the specific angle states shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Here, in the following description, descriptions of known fin bodies and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.

[0072] The active compliance control method for marine fins based on fluid-structure coupling of the present invention specifically includes the following steps:

[0073] S1: as figure 1 As shown, the rigid model of marine fins with a single degree of freedom is selected as the research object, and the fin body is powered by the central axis for pitching motion, ignoring the deformation during the fin motion, where ν represents the incoming flow v...

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Abstract

The invention discloses a marine fin impedance control method based on hydroelastic mechanics, fluid-solid coupling and virtual damping, aiming at solving the problem of active compliance control of marine fins in water. The Grangian dynamics equation takes the rotation angle, angular velocity and angular acceleration of the central axis as the system input, and introduces the expected reference force to realize the force tracking effect, uses the central axis as the end effector, and obtains the impedance control with the fin body as the external object system, integrating the additional characteristics of the fluid to the fin body into the impedance characteristics of the fin body, and designing an impedance control method based on fluid-structure coupling; finally, a stability analysis is performed to prove that the impedance error of the system converges to zero or a neighborhood of zero; at the same time , according to the impedance parameter selection rules, parameter optimization is realized by determining the virtual damping, and the parameter optimization of the impedance control system is realized. The invention is close to reality, has good compliance control effect and more accurate force and position tracking.

Description

technical field [0001] The invention relates to the field of ship motion control technology and marine special auxiliary equipment, in particular to a method for realizing active compliance control by impedance control of marine fins. Background technique [0002] As a high-end marine engineering equipment, marine fins are widely used, and the control of marine fins is a hot research direction of many scholars. The wing control that works in the atmospheric environment has been developed relatively maturely and has been widely used in the aviation field. However, because the working environment of marine fins is more complex and changeable than the atmosphere, considering the underwater environment and marine use. The fluid-structure interaction of fins makes the control of fins more complicated and difficult. Traditional control methods rarely consider the flexibility of fins, which affects the working efficiency of fins and shortens the service life of ship equipment. ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙明晓马爽栾添添吕重阳谢春旺原张杰胡占永王潇
Owner HARBIN UNIV OF SCI & TECH
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