A combined control method for reducing roll of a fluid momentum wheel platform

Abstract

The present invention discloses a combined control method for reducing roll of a fluid momentum wheel platform. The fluid momentum wheel platform includes a rotary drive mechanism and a propeller combined rotary drive mechanism. The control method is as follows: Obtain the initial direction angle of the rotary drive mechanism, the initial direction angles of the propellers in the propeller combined rotary drive mechanism, and the initial torque direction of the corresponding fluid momentum wheel platform; Determine whether the torque direction required to resist the environment is the same as the initial torque direction. If so, directly output the initial direction angles of the rotary drive mechanism and each propeller; If not, select a drive mode according to user requirements to resist the environment and achieve roll reduction. The present invention can avoid redundant execution of multiple mechanisms and can achieve precise and efficient roll reduction according to user requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of ship and ocean engineering anti-rolling device control, and more specifically, to a combined anti-rolling control method for a fluid momentum wheel platform. Background Art

[0002] When a ship and an ocean engineering operation platform are affected by large wind, waves and currents, obvious rolling motions will occur, which will further affect the operation accuracy and effect. There are various means of anti-rolling at sea, mainly including anti-rolling fins, anti-rolling water tanks, and anti-rolling using a fluid momentum wheel, etc.

[0003] Currently, using a fluid momentum wheel for anti-rolling is a new anti-rolling method, which has the advantages of fast response and convenient material acquisition. Combined with a direction slewing mechanism, it can achieve direction adaptive anti-rolling. Its structure is as Figure 1 shown. It can be seen from the figure that the slewing drive mechanism 1 can drive the fluid momentum wheel to rotate 360 degrees in the horizontal plane, and the propeller combination slewing drive mechanism 2 can generate a 360-degree slewing moment in the horizontal plane of the platform through a combination of multiple propellers with different orientations. That is, both of the above two mechanisms have the ability to rotate the fluid momentum wheel. When multiple actuators cooperate, there will be a redundant situation.

[0004] Therefore, how to provide a method for combined control of multiple mechanisms to achieve efficient collaborative operation of each actuator, so as to have an effective anti-rolling effect, is a problem that needs to be solved urgently in this field.

[0005] At the same time, it should be noted that the information disclosed in this background art section is only intended to deepen the understanding of the overall background art of the present invention, and should not be regarded as an admission or any form of suggestion that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a combined anti-rolling control method for a fluid momentum wheel, which can achieve precise anti-rolling according to the needs of users, thereby avoiding the redundancy caused by multiple mechanisms executing simultaneously.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A combined anti-rolling control method for a fluid momentum wheel platform, wherein the fluid momentum wheel platform includes a slewing drive mechanism and a propeller combination slewing drive mechanism,

[0009] The control method includes:

[0010] Obtaining the initial direction angle of the slewing drive mechanism, the initial direction angles of the propellers in the propeller combination slewing drive mechanism; and the initial moment direction of the corresponding fluid momentum wheel platform;

[0011] Determine whether the direction of the torque required to resist the environment is the same as the direction of the initial torque,

[0012] If so, directly output the initial direction angles of the rotary drive mechanism and the respective propellers;

[0013] If not, select a drive mode according to user requirements to resist the environment and achieve roll reduction.

[0014] To further optimize the above solution, the drive mode includes a rotary drive mode. The rotary drive mode calculates the command direction angle of the rotary drive mechanism based on the direction of the external environmental torque and the initial direction angle of the rotary drive mechanism, and outputs the command direction angle of the rotary drive mechanism and the initial direction angles of the respective propellers to the actuator.

[0015] To further optimize the above solution, the drive mode includes a combined rotary drive mode of propellers. The combined rotary drive mode of propellers calculates the command direction angles and command rotational speeds of the respective propellers based on the direction of the external environmental torque, and outputs the command direction angles and command rotational speeds of the respective propellers and the initial direction angle of the rotary drive mechanism to the actuator.

[0016] To further optimize the above solution, the drive mode includes a combined drive mode of a rotary mechanism and a combined rotary mechanism of propellers. The driving method is: based on the direction of the external environmental torque, calculate the direction angle of the rotary drive mechanism and the direction angles and rotational speeds of the respective propellers in the combined rotary drive mechanism of propellers in the combined drive mode, and output to the actuator.

[0017] Through the above technical solutions, it can be seen that compared with the prior art, the present invention discloses a fluid momentum wheel platform roll reduction combined control method, which can enable the fluid momentum wheel platform to efficiently use an over-driven rotary actuator, thereby avoiding redundancy, and at the same time enabling the platform to better generate a torque force to resist external environmental interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0019] Figure 1 It is a schematic structural diagram of a fluid momentum wheel platform provided by the present invention;

[0020] Figure 2 It is a flowchart of the combined control method provided by the present invention. Detailed Embodiments

[0021] For ease of understanding of the present invention, the present invention will be described more fully hereinafter with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the disclosure of the present invention will be thorough and complete.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] It should be understood that when an element or layer is referred to as being "on", "adjacent to", "connected to" or "coupled to" another element or layer, it can be directly on, adjacent to, connected or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being "directly on", "directly adjacent to", "directly connected to" or "directly coupled to" another element or layer, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or part from another element, component, region, layer or part. Thus, a first element, component, region, layer or part discussed below may be denoted as a second element, component, region, layer or part without departing from the teachings of the present invention.

[0024] Spatial relationship terms such as "under", "below", "lower", "beneath", "above", "upper", etc. are used herein for convenience of description to describe the relationship of one element or feature shown in the drawings to other elements or features. It should be understood that, in addition to the orientation shown in the drawings, spatial relationship terms are intended to also include different orientations of the device in use and operation. For example, if the device in the drawings is flipped, then an element or feature described as "under" or "beneath" or "below" other elements or features will be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "below" can include both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or other orientations) and the spatial descriptors used herein are to be interpreted accordingly.

[0025] The purpose of the terms used herein is only to describe specific embodiments and is not a limitation of the present invention. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprising" and / or "including", when used in this specification, specify the presence of the stated features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups. As used herein, the term "and / or" includes any and all combinations of the associated listed items.

[0026] This application discloses a combined control method for reducing roll of a fluid momentum wheel platform. Among them, the fluid momentum wheel platform includes a rotary drive mechanism and a propeller combined rotary drive mechanism.

[0027] To make the working mode of the above structure more obvious and understandable, the following briefly describes with the Figure 1 embodiments in the attached drawings. Figure 1 In the figure, 1 is a rotary drive structure, 2 is a propeller combined rotary drive structure, and 3 is a fluid momentum wheel.

[0028] Among them, the rotary drive mechanism 1 is used to drive the fluid momentum wheel 3 to rotate 360 degrees in the horizontal plane, and the propeller combined rotary drive mechanism 2 is used to generate a 360-degree turning moment in the horizontal plane of the platform through a combination of propellers with multiple different orientations. The two are independent of each other and work separately.

[0029] Furthermore, as Figure 2 shown, the control method disclosed in the present invention includes:

[0030] Obtain the initial direction angle of the rotary drive mechanism, the initial direction angles of the propellers in the propeller combined rotary drive mechanism; and the initial torque direction of the corresponding fluid momentum wheel platform;

[0031] Judge whether the direction of the torque required to resist the environment is the same as the initial torque direction,

[0032] If so, directly output the initial direction angles of the rotary drive mechanism and each propeller;

[0033] If not, select a drive mode according to user requirements to resist the environment and achieve roll reduction.

[0034] To further optimize the above solution, the drive mode includes a rotary drive mode. The rotary drive mode dynamically calculates the command direction angle of the rotary drive mechanism according to the external environmental torque direction and the initial direction angle of the rotary drive mechanism, and outputs the command direction angle of the rotary drive mechanism and the initial direction angles of the propellers to the actuator.

[0035] In one embodiment, the dynamic calculation process is:

[0036] To ensure that the direction of the environmental torque is the same as the resistance torque generated by the momentum wheel, that is

[0037]

[0038] where is the direction of the external environmental interference resisted by the platform, is the direction of the torque generated by the momentum wheel.

[0039] Then it is necessary to adjust the command direction angle of the slewing drive mechanism to:

[0040]

[0041] To further optimize the above solution, the drive mode includes a propeller combined slewing drive mode. In the propeller combined slewing drive mode, according to the direction of the external environmental torque, calculate the command direction angle and command speed of each propeller, and output the command direction angle, command speed of each propeller, and the initial direction angle of the slewing drive mechanism to the actuator.

[0042] In one embodiment, first, the calculation formula for the command direction angle of each propeller is:

[0043]

[0044] In the formula, αi is the direction angle of the i-th propeller, T iy is the y-direction thrust component of the i-th propeller, T ix is the x-direction thrust component of the i-th propeller;

[0045] where, T iy and T ix are obtained according to the following formula:

[0046]

[0047]

[0048] In the formula, τ x is the x-direction control force required to rotate the platform to the target angle; τ y is the y-direction control force required to rotate the platform to the target angle, and N is the number of propellers;

[0049] The command speed of each propeller, the calculation formula is:

[0050]

[0051] In the formula, n i is the speed of the i-th propeller, T i$T_i$ is the resultant thrust of the $i$-th propeller, $\rho$ is the seawater density; $D$ is the propeller diameter; $K_T$ is the propeller thrust coefficient.

[0052] Among them, $T$ i meets the objective function of minimizing the energy consumption of the propeller, that is:

[0053]

[0054] Among them, $c$ i is the propeller energy consumption coefficient, which is a constant;

[0055] And it satisfies the following constraint conditions:

[0056] $T$ min ≤ $T$ i ≤ $T$ max

[0057] In the formula, $T$ min is the minimum value of the propeller; $T$ max is the maximum value of the propeller;

[0058] Furthermore, $T$ i is obtained according to the following formula:

[0059]

[0060] Then, use the sequential quadratic programming method to solve the above optimization problem, and the command rotational speed $n$ of the propeller can be obtained i and the command direction angle $\alpha$ i .

[0061] Finally, according to the obtained rotational speed and command direction angle, combined with the control torque in the xoy plane required for the platform to rotate to the target angle, precise rotation is achieved. For the control torque in the xoy plane required for the platform to rotate to the target angle, it is obtained through the following formula:

[0062]

[0063] Among them, $\tau$ xy is the control torque in the xoy plane required for the platform to rotate to the target angle; $T$ ixy is the control torque of the $i$-th point in the xoy plane, and the calculation formula is as follows:

[0064] $T$ ixy = $T$ ix × $l$ ix + $T$ iy × $l$ iy

[0065] In the formula, $l$ ix represents the vertical distance between the x-direction component of the $i$-th propeller and the center of the underwater platform, $l$ iyIt represents the vertical distance between the component force of the i-th propeller in the y direction and the center of the underwater platform.

[0066] To further optimize the above solution, the drive mode includes a combined drive mode of a slewing mechanism and a propeller combined slewing mechanism. The driving method is as follows: According to the direction of the external environmental torque, calculate the direction angle of the slewing drive mechanism and the direction angles and rotational speeds of the propellers in the propeller combined slewing drive mechanism under the combined drive mode, and output the actuator.

[0067] In one embodiment, the calculation process of the direction angles and rotational speeds of the propellers is the same as that in the propeller combined slewing drive mode, with the difference being: T i It conforms to the objective function of minimizing the sum of the energy consumption of the slewing drive mechanism and the energy consumption of the propellers, that is:

[0068]

[0069] In the formula, Q is the energy consumption consumed by the slewing drive mechanism.

[0070] At this time, the calculation formula for the direction angle of the slewing drive mechanism is:

[0071] β = β0 + Δβ

[0072] Δβ = a·Q 1 / b

[0073] In the formula, β0 is the initial direction angle of the slewing mechanism; β is the command direction angle of the slewing mechanism; △β is the change amount of the direction angle of the slewing mechanism; a and b are the energy consumption coefficients of the slewing mechanism.

[0074] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and reference can be made to the description in the method part for related parts.

[0075] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A combined control method for reducing roll of a fluid momentum wheel platform, characterized in that, The fluid momentum wheel platform includes a rotary drive mechanism and a propeller combined rotary drive mechanism. The control method includes: Obtaining the initial direction angle of the rotary drive mechanism, the initial direction angles of the propellers in the propeller combined rotary drive mechanism; and the initial torque direction of the corresponding fluid momentum wheel platform. Judging whether the torque direction required to resist the environment is the same as the initial torque direction. If so, directly output the initial direction angles of the rotary drive mechanism and the propellers. If not, select a drive mode according to user requirements to resist the environment and achieve roll reduction. The drive mode includes a propeller combined rotary drive mode. In the propeller combined rotary drive mode, according to the external environmental torque direction, calculate the command direction angles and command speeds of the propellers, and output the command direction angles and command speeds of the propellers and the initial direction angle of the rotary drive mechanism to the actuator. The calculation formula for the command direction angle of each propeller is: where a i is the direction angle of the i-th propeller, and T iy is the y-direction thrust component of the i-th propeller, and T ix is the x-direction thrust component of the i-th propeller; among them, T iy and T ix are obtained according to the following formula: where τ x is the control force in the x - direction required to rotate the platform to the target angle; τ y is the control force in the y - direction required to rotate the platform to the target angle, and N is the number of propellers. The calculation formula for the command speed of each propeller is: where n i is the rotational speed of the i-th propeller, T i is the resultant thrust of the i-th propeller, ρ is the seawater density; D is the propeller diameter; K T is the propeller thrust coefficient; T i Obtained according to the following formula:

2. The fluid momentum wheel platform anti-rolling combined control method according to claim 1, wherein The drive mode includes a rotary drive mode. The rotary drive mode calculates the command direction angle of the rotary drive mechanism according to the external environmental torque direction and the initial direction angle of the rotary drive mechanism, and outputs the command direction angle of the rotary drive mechanism and the initial direction angles of the propellers to the actuator.

3. A combined anti-rolling control method for a fluid momentum wheel platform according to claim 1, characterized in that, The drive mode includes a combined drive mode of a rotary mechanism and a propeller combined rotary mechanism. The drive method is: according to the external environmental torque direction, calculate the direction angle of the rotary drive mechanism and the direction angles and speeds of the propellers in the propeller combined rotary drive mechanism in the combined drive mode, and output to the actuator.

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