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

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. ...

AI Technical Summary

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.

Images