A vertical multi-board wave making system with linkage of a rod system and high-precision control and a control method thereof

Abstract

The application provides a vertical multi-plate wave making system with linkage of a rod system and high-precision control and a control method thereof. A computer control system generates a nonlinear wave control signal, and a controller and a driving device are used to independently drive the hinged points on each wave making plate, so that fine adjustment of local movement of the wave making plate is realized, and the vertical velocity and displacement profile of a target wave are highly accurately reproduced by precisely controlling the displacement of each hinged point. Specifically, a transfer function of the swing amplitude of each plate of the vertical multi-plate wave making machine and the wave height is derived by using the ideal fluid potential flow theory of hydrodynamics, the consistent relationship between the swing amplitude of each plate and the ratio of the displacement or velocity of the nonlinear wave vertical distribution, and the geometric invariable characteristics of each wave making plate are combined, and the specific displacement of each hinged point is solved, and then the motion law of the servo motor is obtained according to the geometric nonlinear relationship between the hinged points of the wave making plate and the linkage motion of the servo sliding block, so that the high-precision reproduction of the target wave by the vertical multi-plate wave making system is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydrodynamic experimental research, more particularly to a vertical multi-board wave making system with linkage of rod system and high-precision control and a control method thereof. BACKGROUND

[0002] In the field of ocean engineering and hydrodynamic test, wave maker is an essential device for physical model test. The wave maker is usually set at one end of the test water tank or pool, and generates waves through the reciprocating movement of the wave making board. Due to the complexity and diversity of experimental research, the wave maker is often required to accurately generate waves that meet specific conditions. The vertical multi-board wave maker is based on the principle of using a computer control system and actuators to drive one or more sets of vertically placed wave making boards to produce reciprocating motion, thereby generating waves in the water tank. The main advantage of the vertical multi-board wave maker is that it can more accurately reflect the vertical nonlinear velocity distribution of fluid particles in the wave field, and the wave modulation distance is shorter, so it can generate more accurate waves in a closer range to the wave making board.

[0003] When simulating the generation of waves using the vertical multi-board wave making system, large amplitude wave nonlinear effects, mechanical system transmission and nonlinear characteristics of the system will cause trajectory simulation errors. In order to more accurately control the vertical multi-board wave making system to form target waves in the water tank, the linkage of the vertical multi-board wave making system and the nonlinear control method can be used to reproduce complex wave environments with high fidelity in the laboratory, thereby providing an experimental basis for the verification of nonlinear hydrodynamic theory, promoting the progress of high-precision motion control of the vertical multi-board wave making system, and optimizing and accelerating the reliability and safety test results of ocean engineering equipment. SUMMARY

[0004] The present application aims to overcome at least one of the above-mentioned defects or deficiencies of the prior art, and to provide a vertical multi-board wave making system with linkage of rod system and high-precision control and a control method thereof.

[0005] In one aspect, the present application provides a vertical multi-board wave making system with linkage of rod system and high-precision control. The vertical multi-board wave making system comprises a plurality of wave making boards arranged vertically and hinged to each other, a control device and a driving device. Each hinge point of the wave making board is independently driven by the driving device.

[0006] The driving device comprises a motor, a linear screw connected to the output end of the motor, a sliding block threadedly connected to the linear screw, a connecting rod having one end fixedly connected to the sliding block and the other end hingedly connected to the wave making board, and a linear motion conversion mechanism for converting the linear motion of the linear screw into a compound motion of the hinge point on the wave making board.

[0007] The control device comprises a computer control system and a plurality of controllers electrically connected with the driving devices, the controllers are connected with the driving devices, used for receiving wave control signals and instructing the driving devices to drive the wave plates to move; the computer control system is in communication connection with the controllers, and generates nonlinear wave control signals according to the analysis of the target wave shape; the wave control signals comprehensively compensate for the nonlinear dynamic errors of the wave plate movement caused by the transmission of the driving devices in the wave making system.

[0008] In the technical solution, the precision, flexibility and dynamic response capability of wave simulation are significantly improved through the combination of mechanical structure optimization and intelligent control strategy. Specifically, the articulated points on each wave plate are independently driven by the controllers and the driving devices, thereby realizing fine adjustment of the local movement of the wave plates. By accurately controlling the displacement and phase difference of each articulated point, the system can reproduce the vertical velocity and displacement profile of the target wave with high fidelity. The computer control system generates nonlinear wave control signals according to the analysis of the target wave shape. The wave control signals comprehensively compensate for the nonlinear dynamic errors of the wave plate movement caused by the transmission of the driving devices in the wave making system. Through inverse kinematics solving and deep coupling of multi-plate collaborative optimization, the movement of the articulated points on the wave plates is accurately controlled to realize fine splitting and simulation of wave movement. The theoretical wave displacement is converted into actual executable nonlinear displacement instructions for the articulated points, greatly reducing the deviation between the actual movement of the wave plates and the theoretical value. At the same time, the movement of multiple articulated points defines the movement mode of multiple wave plates, realizing the leap from "single-plate local control" to "multi-plate global optimization", and further realizing high-precision reproduction of the vertical multi-plate wave making system in nonlinear compensation, complex wave shape generation and real-time collaboration.

[0009] Specifically, the computer control system has a nonlinear control algorithm module. The specific implementation process of the nonlinear control algorithm module for generating nonlinear wave control signals is as follows: the transfer function of the swing amplitude and wave height of each wave plate in the vertical multi-plate wave making system is derived through the ideal fluid potential flow theory of hydrodynamics. Then, the specific displacement of each articulated point is solved by combining the consistent relationship between the swing amplitude of each wave plate and the ratio of the displacement or velocity of the nonlinear wave in the vertical direction, as well as the geometric invariance of each wave plate. Finally, the movement law of the motor is obtained according to the geometric nonlinear relationship between the movement of the articulated points of the wave plates and their corresponding sliders and connecting rods. Through the combination of mechanical structure optimization and intelligent control strategy, the high-precision wave reproduction capability of the vertical multi-plate wave making system is ensured, and the precision, flexibility and dynamic response capability of wave simulation are significantly improved.

[0010] Further, the vertical multi-plate wave making system further comprises a water tank for containing experimental water, and a partition plate arranged on the side wall of the water tank.

[0011] The driving device further comprises a push rod, which is arranged in parallel with the linear lead screw, and one end of which is fixedly connected with the sliding block, and the other end of which is hingedly connected with one end of the connecting rod.

[0012] The wave-making plate is vertically arranged in the experimental water body; and the push rod penetrates through the partition plate and is in sliding fit with the partition plate, and is used for isolating the motor from the experimental water body.

[0013] In the technical solution, the partition plate is arranged, and the push rod parallel with the linear lead screw is arranged between the connecting rod and the sliding block, the push rod is arranged in sliding fit with the partition plate, the freedom degree and the sealing property of the mechanical transmission coexist, the motor, the linear lead screw and the experimental water body of the water tank are effectively physically isolated, the problems such as short circuit and corrosion caused by the penetration of the water body into the motor cabin are avoided, and the service life of the equipment is significantly improved. Further, the push rod is arranged in parallel with the linear lead screw, the linear motion transmission path is optimized, the energy loss is reduced, the bending vibration caused by the lateral force of the push rod is reduced, the sliding block is prevented from being stuck or the thread of the linear lead screw is prevented from being worn, the motion axis of the push rod is strictly parallel with the axis of the linear lead screw through high-precision processing of the partition plate as the guide reference of the push rod, mechanical interference during the linkage of multiple plates is reduced, and the precision of the wave simulation of the vertical multi-plate wave-making system is improved.

[0014] Preferably, a flexible sealing structure is arranged at the fit between the partition plate and the push rod, and the flexible sealing structure is a multi-layer silica gel sealing ring; the multi-layer silica gel sealing ring with excellent elastic deformation adapts to the reciprocating motion of the push rod, and the high sealing property, durability and stability of the transmission of the vertical multi-plate wave-making system are still maintained under dynamic working conditions; meanwhile, the multi-layer silica gel sealing ring is low in cost, and preferably, a quick release design is adopted, so that the push rod can be quickly replaced without disassembling the driving device, and the maintenance time and cost are greatly reduced.

[0015] Another object of the present application is to provide a control method of the vertical multi-plate wave-making system.

[0016] S1. Displacement information of the wave-making plate is generated according to a target wave shape;

[0017] S2. Nonlinear displacement instructions of the linear lead screw are generated according to a nonlinear control relationship between the linear lead screw and the wave-making plate; and constraint equations of linkage of multiple wave-making plates are solved in real time, so as to realize the cooperative motion between the multiple wave-making plates.

[0018] In this technical solution, the control method of the vertical multi-plate wave-making system achieves high-precision and dynamic simulation of complex waves by combining theoretical modeling with real-time nonlinear compensation. Specifically, in step S1, the vertical velocity and displacement profile of the target wave are analyzed using certain water wave theories to generate theoretical displacement information of the wave-making plates, ensuring that the wave shape, such as the sharpness of the wave crest and the flatness of the wave trough, is consistent with the physical laws of the wave-making plate motion. In step S2, by constructing a nonlinear mathematical model of the linear screw-wave-making plate, nonlinear errors such as friction, clearance, and inertia in the mechanical transmission are compensated, and the theoretical displacement is transformed into an actual executable nonlinear command, which greatly reduces the deviation between the actual motion of the wave-making plate and the theoretical value. At the same time, based on the constraint equations of the linkage of multiple wave-making plates, the phase difference, amplitude ratio, and horizontal compensation of each plate are quickly solved to ensure the continuous motion of adjacent plates, avoid local vortices or energy breakage, and improve the multi-plate cooperative motion and dynamic stability of the vertical multi-plate wave-making system.

[0019] Furthermore, in step S2, the nonlinear control relationship between the linear lead screw and the wave-generating plate is as follows:

[0020] The displacement x of the linear lead screw satisfies the following relationship:

[0021]

[0022] In the same wave-generating plate, O is the reference hinge point, A is the hinge point that generates motion, B is the slider connected to hinge point A, α is the horizontal angle of the motion trajectory of hinge point A, and θ is the vertical angle of the motion trajectory of hinge point A.

[0023] After eliminating α, θ and x satisfy the following equation:

[0024]

[0025] Furthermore, the horizontal displacement S of hinge point A satisfies the displacement relationship of the vertical velocity profile in the water wave theory; the water wave theory can be a linear water wave theory or a nonlinear water wave theory.

[0026] Preferably, the water wave theory is one of Airy wave theory, Stokes wave theory or Boussinesq wave theory;

[0027] When the water wave theory adopts the Airy wave theory...

[0028] The displacement relationship of the vertical velocity profile in the water wave theory is as follows: the linear wave at finite depth varies with time according to a sinusoidal relationship; that is, the relationship between the horizontal displacement S of hinge point A and θ is:

[0029] S=AO sin(θ) (3).

[0030] Optionally, the displacement relationship of the vertical velocity profile of the water wave theory can also adopt the nonlinear theory of Stokes wave, Boussinesq wave, etc.

[0031] Further, in step S2, the constraint equation of the linkage of the plurality of wave plates is:

[0032]

[0033] (S i+1 -S i ) 2 -(h i+1 -h i ) 2 =l 2 (5);

[0034] wherein Si is the horizontal displacement of the i-th plate, hi is the corresponding water depth, k is the wave number, and l is the spacing of adjacent hinge points;

[0035] The computer control system solves Si and hi of all wave plates simultaneously, adds boundary constraint conditions, and presets the motion trajectory of each hinge point, so as to realize high-precision control of the coordinated motion of the plurality of wave plates.

[0036] Further, the algorithm of simultaneous solving adopts a modified Powell hybrid algorithm or a finite difference method of Jacobi approximation.

[0037] Further, the hinge point of the wave plate is provided with a position sensor; and the sliding block is provided with a position sensor.

[0038] In the technical solution, the position sensors arranged at the hinge points of the wave plates and the sliding blocks can monitor the displacement and posture of the key motion nodes in real time.

[0039] The horizontal displacement and vertical displacement of the hinge points are monitored in real time, so that the actual motion trajectory of the wave plate can be obtained.

[0040] Compared with the prior art, the technical solution has the following beneficial effects:

[0041] 1. A vertical multi-plate wave making system with linkage of rod system and high precision control is provided, which significantly improves the precision, flexibility and dynamic response capability of wave simulation through the combination of mechanical structure optimization and intelligent control strategy. Specifically, the hinge points on each wave making plate are independently driven by the controller and driving device, thereby realizing fine adjustment of the local motion of the wave making plate. By accurately controlling the displacement and phase difference of each hinge point, the system can reproduce the vertical velocity and displacement profile of the target wave with high fidelity. Secondly, the computer control system generates a nonlinear wave control signal. Specifically, the algorithm built-in the computer control system compensates for the nonlinear errors caused by the friction and gap of the linear screw transmission, as well as the dynamic coupling interference of the multi-plate linkage, greatly reducing the deviation between the actual motion trajectory of the mechanical system and the theoretical waveform, thereby ensuring the high precision wave reproduction capability of the vertical multi-plate wave making system.

[0042] 2. A control method for a multi-plate wave making system is provided, which realizes high precision and dynamic simulation of complex waves through the combination of theoretical modeling and real-time nonlinear compensation. Specifically, in step S1, the vertical velocity and displacement profile of the target wave is analyzed using a certain water wave theory to generate the theoretical displacement information of the wave making plate, ensuring that the wave shape, such as wave peak sharpness and wave trough flatness, is consistent with the physical law of wave making plate motion. In step S2, a nonlinear mathematical model of the linear screw-wave making plate is constructed to compensate for the nonlinear errors in the motion of the wave making plate caused by the mechanical transmission of the machine driving device, converting the theoretical displacement into actual executable nonlinear instructions, and greatly reducing the deviation between the actual motion of the wave making plate and the theoretical value. At the same time, according to the constraint equation of the linkage of multiple wave making plates, the phase difference, amplitude ratio and horizontal compensation of each plate are quickly solved, ensuring the continuous motion of adjacent plates and avoiding local vortex or energy breakage, thereby improving the multi-plate coordinated motion and dynamic stability of the vertical multi-plate wave making system. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 FIG. 1 is a structural schematic diagram of a vertical multi-plate wave making system with linkage of rod system and high precision control according to the present application.

[0044] Figure 2 FIG. 2 is a structural schematic diagram showing the nonlinear control state of the linear screw and wave making plate according to the present application.

[0045] Figure 3 FIG. 3 is an implementation photo of a vertical multi-plate wave making system with linkage of rod system and high precision control according to the present application, which includes three vertically arranged wave making plates linked by each other and making waves through reciprocating motion.

[0046] Number Description: wave making plate 100, motor 201, linear screw 202, sliding block 203, connecting rod 204, push rod 205, computer control system 301, controller 302, water tank 400, partition 401. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below. Obviously, what is described is only a part of the embodiments of the present invention, and not all of the embodiments.

[0048] Example 1

[0049] like Figure 1 As shown, this embodiment provides a vertical multi-plate wave-making system with high-precision control of linkage. The vertical multi-plate wave-making system includes several vertically arranged and hinged wave-making plates 100, a control device and a drive device. Each hinge point of the wave-making plate 100 is driven independently by the drive device.

[0050] The drive device includes a motor 201, a linear screw 202 connected to the output end of the motor 201, a slider 203 threadedly engaged with the linear screw 202, and a connecting rod 204 with one end fixedly connected to the slider 203 and the other end hinged to the wave-making plate 100, which is used to convert the linear motion of the linear screw 202 into the composite motion of the hinge point on the wave-making plate 100.

[0051] The control device includes a computer control system 301 and several controllers 302 that are electrically connected to the drive device. The controllers 302 are connected to the drive device and are used to receive wave control signals and instruct the drive device to move the wave-making plate 100. The computer control system 301 is communicatively connected to the controllers 302 and generates nonlinear wave control signals based on the target wave shape. The wave control signals comprehensively compensate for the nonlinear dynamic errors caused by the mechanical transmission of the drive device in the vertical multi-plate wave-making system.

[0052] Specifically, by combining mechanical structure optimization with intelligent control strategies, the accuracy, flexibility, and dynamic response capability of wave simulation are significantly improved. The controller 302 and drive device independently drive the hinge points on each wave-generating plate 100, thereby achieving precise adjustment of the local motion of the wave-generating plate 100. By accurately controlling the displacement and phase difference of each hinge point, the system can reproduce the vertical velocity and displacement profile of the target wave with high fidelity. Secondly, by having the computer control system 301 generate nonlinear wave control signals, specifically, the algorithm built into the computer control system 301 compensates for nonlinear errors caused by friction and clearance in the linear screw 202 transmission, as well as dynamic coupling interference from multi-plate linkage, greatly reducing the deviation between the actual motion trajectory and the theoretical waveform of the mechanical system, thus ensuring the high-precision wave reproduction capability of the vertical multi-plate wave-generating system.

[0053] Further, the computer control system 301 is built-in with a nonlinear control algorithm module, and specifically, the specific implementation process of the nonlinear control algorithm module for generating the nonlinear wave control signal is as follows:

[0054] By means of the hydrodynamic ideal fluid potential flow theory, the transfer function between the swing amplitude of each wave plate 100 and the wave height in the vertical multi-plate wave system is derived, and then, in combination with the consistent relationship between the swing amplitude of each wave plate 100 and the ratio of the displacement or velocity of the nonlinear wave in the vertical direction, and the geometric invariance of each wave plate 100, the specific displacement of the hinge joint on each wave plate 100 is solved, and then, according to the geometric nonlinear relationship between the hinge joint and the movement of the corresponding slider 203 and connecting rod 204, the movement law of the motor 201 is obtained.

[0055] Further, the vertical multi-plate wave system further comprises a water tank 400 for accommodating the experimental water body, and a partition plate 401 arranged on the side wall of the water tank 400.

[0056] The driving device further comprises a push rod 205, which is arranged in parallel with the linear guide screw 202, and one end of which is fixedly connected with the slider 203, and the other end of which is hingedly connected with one end of the connecting rod 204.

[0057] The wave plate 100 is vertically arranged in the experimental water body; the push rod 205 penetrates through the partition plate 401 and is in sliding fit with the partition plate 401, and is used for isolating the motor 201 from the experimental water body.

[0058] Further, by arranging the partition plate 401, and arranging the push rod 205 in parallel with the linear guide screw 202 between the connecting rod 204 and the slider 203, and arranging the push rod 205 in sliding fit with the partition plate 401, the freedom and sealing of the mechanical transmission coexist, so as to effectively physically isolate the motor 201, the linear guide screw 202 and the experimental water body in the water tank 400, avoid the water body from penetrating into the cabin of the motor 201 to cause short circuit, corrosion and other problems, and significantly improve the service life of the equipment. Further, the parallel arrangement of the push rod 205 and the linear guide screw 202 also optimizes the linear motion transmission path, reduces the energy loss, reduces the bending vibration caused by the lateral force of the push rod 205, avoids the jamming of the slider 203 or the wear of the thread of the linear guide screw 202; at the same time, the partition plate 401 serves as the guide reference of the push rod 205, and through high-precision machining, the movement axis of the push rod 205 and the axis of the linear guide screw 202 can be strictly parallel, so as to reduce the mechanical interference during the linkage of the multi-plate, and improve the precision of the wave simulation of the vertical multi-plate wave system.

[0059] Preferably, a flexible sealing structure is provided at the mating point between the partition plate 401 and the push rod 205. The flexible sealing structure is a multi-layer silicone sealing ring. The multi-layer silicone sealing ring with excellent elastic deformation adapts to the reciprocating motion of the push rod 205, maintaining high sealing performance, durability and stability of the vertical multi-plate wave generation system transmission under dynamic working conditions. At the same time, the multi-layer silicone sealing ring is inexpensive. Preferably, a quick-release design is also adopted, which can be quickly replaced without disassembling the drive device, greatly reducing maintenance time and maintenance costs.

[0060] Example 2

[0061] Another object of the present invention is to provide a control method for a vertical multi-plate wave generation system, comprising the following steps:

[0062] S1. Based on the target wave shape, generate the displacement information of the wave-generating plate 100;

[0063] S2. Based on the nonlinear control relationship between the linear lead screw 202 and the wave-making plate 100, generate the nonlinear displacement command of the linear lead screw 202; and solve the constraint equations of the linkage of multiple wave-making plates 100 in real time to realize the coordinated motion between multiple wave-making plates 100.

[0064] Specifically, the control method of the vertical multi-plate wave-generating system achieves high-precision and dynamic simulation of complex waves by combining theoretical modeling with real-time nonlinear compensation. Specifically, in step S1, the vertical velocity and displacement profile of the target wave are analyzed using certain water wave theories to generate theoretical displacement information of the wave-generating plate 100, ensuring that the wave shape, such as the sharpness of the wave crest and the flatness of the wave trough, is consistent with the physical laws of the wave-generating plate 100's motion. In step S2, by constructing a nonlinear mathematical model of the linear lead screw 202 and the wave-generating plate 100, nonlinear errors such as friction, clearance, and inertia in the mechanical transmission are compensated, and the theoretical displacement is transformed into an actual executable nonlinear command, greatly reducing the deviation between the actual motion of the wave-generating plate 100 and the theoretical value. At the same time, based on the constraint equations of the linkage of multiple wave-generating plates 100, the phase difference, amplitude ratio, and horizontal compensation of each plate are quickly solved to ensure the continuous motion of adjacent plates, avoid local vortices or energy breakage, and improve the multi-plate cooperative motion and dynamic stability of the vertical multi-plate wave-generating system.

[0065] Furthermore, such as Figure 2 As shown, in step S2, the nonlinear control relationship between the linear lead screw 202 and the wave generator 100 is as follows:

[0066] The displacement x of the linear lead screw 202 satisfies the following relationship:

[0067]

[0068] Wherein, on the same wave board 100, O is the hinge point as a reference, A is the hinge point generating motion, B is the slider 203 corresponding to the connection of the A hinge point, a is the horizontal angle of the motion track of the A hinge point, and θ is the vertical angle of the motion track of the A hinge point.

[0069] After eliminating a, θ and x satisfy the following formula:

[0070]

[0071] And the horizontal displacement S of the A hinge point satisfies the displacement relationship of the vertical velocity profile of the water wave theory; and the water wave theory can be linear water wave theory or nonlinear water wave theory.

[0072] Preferably, the water wave theory is one of Airy wave theory, Stokes wave theory or Boussinesq wave theory;

[0073] When the water wave theory adopts the Airy wave theory, the displacement relationship of the vertical velocity profile of the water wave theory is that the linear wave of finite water depth changes with time and satisfies the sine relationship; that is, the relationship between the horizontal displacement S of the A hinge point and θ is:

[0074] S = AO sin(θ) (3).

[0075] Alternatively, the displacement relationship of the vertical velocity profile of the water wave theory can also adopt the nonlinear theory of Stokes wave, Boussinesq wave, etc.

[0076] Further, as shown in step S2, the constraint equation of the linkage of the plurality of wave boards 100 is: Figure 1

[0077]

[0078] (S i+1 -S i ) 2 -(h i+1 -h i ) 2 =l 2 (5);

[0079] Wherein, Si is the horizontal displacement of the i-th plate, hi is the corresponding water depth, k is the wave number, and l is the distance between adjacent hinge points.

[0080] The computer control system 301 solves Si and hi of all wave boards 100 simultaneously, adds the boundary constraint condition, and presets the motion track of each hinge point, so as to match the displacement information of the wave board 100 generated according to the target wave shape in step S1, so as to realize high-precision control of the cooperative motion of the plurality of wave boards 100. ​

[0081] Further, the simultaneous solution algorithm adopts a modified Powell hybrid algorithm or Jacobi approximation finite difference method.

[0082] Further, a position sensor is arranged at the hinge joint of the wave plate 100; the slider 203 is provided with a position sensor.

[0083] Further, by arranging position sensors at the hinge joint of the wave plate 100 and the slider 203, the displacement and posture of the key motion nodes can be monitored in real time, specifically, the horizontal displacement and vertical displacement of the hinge joint are monitored in real time, so that the actual motion trajectory of the wave plate 100 can be obtained. Compared with the nonlinear control relationship between the linear lead screw 202 and the wave plate 100, the cooperative error caused by the deformation of the connecting rod 204 and the hinge gap is eliminated through closed-loop correction, thereby improving the precision, dynamic response capability and reliability of the multi-plate linkage of the vertical multi-plate wave system.

[0084] Embodiment 3

[0085] The embodiment provides a vertical multi-plate wave system of linkage high-precision control of a rod system, which comprises three vertically arranged wave plates, a linear lead screw, a slider, a connecting rod and a controller. Figure 3 As shown in the figure, the real-time situation of the vertical multi-plate wave system under the actual water depth condition is shown, which is linked through three wave plates hinged to each other and generates waves through reciprocating motion; specifically, under the condition that the actual water depth is given and the vertical wave system parameters are given, the parameters are input into the computer control system, the computer control system analyzes the vertical velocity and displacement profile of the target wave to be formed, thereby generating the nonlinear displacement information of the wave plate, and the controller drives the linear lead screw, the slider and the push rod to drive the hinge joint on the wave plate to move to the predetermined motion path, thereby manufacturing the predetermined wave in the experimental water body in the water tank.

[0086] Obviously, the above embodiments of the present application are only examples for clearly illustrating the technical solutions of the present application, and are not intended to limit the specific embodiments of the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the claims of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A control method for a vertical multi-plate wave generation system with high-precision control via linkage, characterized in that, The vertical multi-plate wave-making system includes several vertically arranged wave-making plates that are hinged to each other, a control device, and a drive device. Each hinge point of the wave-making plate is driven independently by the drive device. The driving device includes a motor, a linear lead screw connected to the output end of the motor, a slider threaded to the linear lead screw, and a connecting rod with one end fixedly connected to the slider and the other end hinged to the wave-making plate, which is used to convert the linear motion of the linear lead screw into the composite motion of the hinge point on the wave-making plate. The control device includes a computer control system and several controllers electrically connected to the drive device. The controllers are connected to the drive device and are used to receive wave control signals and instruct the drive device to move the wave-making plate. The computer control system is communicatively connected to the controllers and generates nonlinear control signals based on the vertical velocity profile shape of the target wave. The wave control signals comprehensively compensate for the nonlinear dynamic error of the wave-making plate movement caused by the drive device transmission in the vertical multi-plate wave-making system. The control method includes the following steps: S1. Analyze and generate the displacement information of the wave-generating plate based on the target wave shape; S2. Based on the nonlinear control relationship between the linear lead screw and the wave-generating plate, generate the nonlinear displacement command of the linear lead screw; and solve the constraint equations of the linkage of multiple wave-generating plates in real time to realize the coordinated motion between multiple wave-generating plates; In step S2, the nonlinear control relationship between the linear lead screw and the wave generator is as follows: Displacement of linear lead screw x Satisfy the following relations: (1)； On the same wave-generating plate, O is the reference hinge point, A is the hinge point that generates motion, and B is the slider connected to hinge point A. α Let θ be the horizontal angle of the trajectory of hinge point A, and let θ be the vertical angle of the trajectory of hinge point A. eliminate α After that, θ and x The following equation applies between them: (2)； Furthermore, the horizontal displacement S of hinge point A satisfies the displacement relationship of the vertical velocity profile in water wave theory. In step S2, the constraint equation for the linkage of the multiple wave-generating plates is: （4）； （5）； in, Si Let be the horizontal displacement of the i-th hinge. hi Let k be the water depth corresponding to the i-th hinge, k be the wave number, and l be the distance between adjacent hinge points. The computer control system solves for all wave-generating plates simultaneously. Si and hi In addition, motion control boundary constraints are added, and the motion trajectory of each hinge point is preset so that it matches the displacement information of the wave-making plate generated by analyzing the target wave shape in step S1, so as to achieve high-precision control of the coordinated motion of multiple wave-making plates.

2. The control method for the vertical multi-plate wave generation system according to claim 1, characterized in that, In the vertical multi-plate wave generation system, the computer control system has a built-in nonlinear control algorithm module. The specific implementation process of the nonlinear control algorithm module in generating nonlinear wave control signals is as follows: The transfer function between the amplitude and wave height of each wave-generating plate in the vertical multi-plate wave-generating system is derived using the ideal fluid potential flow theory of hydrodynamics. Then, combined with the consistent relationship between the amplitude of each wave-generating plate and the ratio of displacement or velocity of the vertical distribution of the nonlinear wave, as well as the geometric invariance of each wave-generating plate, the specific displacement of the hinge point on each wave-generating plate is solved simultaneously. Finally, based on the geometric nonlinear relationship between the hinge point and the motion of the corresponding slider and connecting rod, the motion law of the motor is obtained.

3. The control method for the vertical multi-plate wave generation system according to claim 1, characterized in that, The vertical multi-plate wave generation system also includes a water tank for containing experimental water, and a partition plate disposed on the side wall of the water tank; The driving device also includes a push rod, which is arranged parallel to the linear lead screw, with one end fixedly connected to the slider and the other end hinged to one end of the connecting rod. The wave-generating plate is vertically positioned in the experimental water body; the push rod passes through the partition and slides with it to isolate the motor from the experimental water body.

4. The control method for the vertical multi-plate wave generation system according to claim 3, characterized in that, The joint between the partition and the push rod is provided with a flexible sealing structure, which is a multi-layer silicone sealing ring.

5. The control method for the vertical multi-plate wave generation system according to claim 1, characterized in that, The water wave theory mentioned is one of the Airy wave theory, the Stokes wave theory, or the Boussinesq wave theory. When the water wave theory adopts the Airy wave theory, the horizontal displacement S of hinge point A is related to... θ The relationship is: S=AO sin( θ )(3).

6. The control method for the vertical multi-plate wave generation system according to claim 1, characterized in that, The algorithm for solving the simultaneous equations employs either a modified Powell hybrid algorithm or a Jacobi approximation of the finite difference method.

7. The control method for the vertical multi-plate wave generation system according to any one of claims 1-6, characterized in that, A position sensor is provided at the hinge point of the wave-generating plate; a position sensor is also provided on the slider.

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