A controllable precession control method, device and storage medium for a gyroscopic stabilizer

Abstract

The present invention discloses a controllable precession control method, device and storage medium for a roll reduction gyroscope. First, five roll periods of the ship are continuously counted, and the next roll period of the ship is predicted relying on an autoregressive model; according to the predicted roll period of the ship, the motion trajectory of the roll reduction gyroscope is planned so that the precession angle of the gyroscope moves in a sine manner in each period and reaches the maximum precession angle; a proportional valve is used to adjust the hydraulic flow rate to control the precession speed of the gyroscope so that the precession speed is the maximum when the roll angular velocity is the maximum; finally, when the predicted roll period of the ship ends, this period is the current period, and combining the four periods before this period, a total of five periods, continue to predict the upcoming next roll period, and repeat the control of the precession of the roll reduction gyroscope. The present invention improves the roll reduction effect of the ship roll reduction gyroscope; eliminates the roll acceleration caused by the sudden stop of precession, and improves the comfort of the ship; and improves the service life of the roll reduction gyroscope.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine anti-rolling gyroscopes, and particularly relates to a controllable precession control method, device and storage medium for an anti-rolling gyroscope. Background Technique

[0002] The marine anti-rolling gyroscope is derived from the attitude-stabilizing gyroscope in aerospace equipment. As Figure 2 shown, the anti-rolling gyroscope mainly consists of a housing containing a rotor, a support base, a precession device, etc. The rotor is fixed in a sealed and vacuum rotor housing through upper and lower bearings to reduce the resistance during high-speed rotation. The rotor housing is fixed on the support base through a precession axis perpendicular to the rotor axis, and the precession oil cylinder is connected to the precession axis through a rocker arm. The support base is connected to the hull, and the torque generated during the operation of the anti-rolling gyroscope is transmitted to the hull through the base to reduce the rolling motion of the ship and improve the seakeeping performance of the ship and the comfort of personnel.

[0003] The hull coordinate system is O-XYZ, the X-axis points to the bow of the ship, the Y-axis points to the starboard side, and the Z-axis points to the ship's baseline. The gyro coordinate system is O b -x b y b z b , and initially the gyro coordinate axes x b y b z b are respectively parallel to the hull coordinate axes XYZ. The gyro has a two-degree-of-freedom motion. The rotation axis of the gyro rotor is arranged along the z b axis and rotates at high speed around its rotation axis z b . At the same time, the rotor together with the housing can precess along its y b axis. By controlling the precession oil cylinder, the precession angle and precession angular velocity of the gyro rotor can be controlled.

[0004] When the ship rolls , the rotor of the gyro will perform low-speed precession and have an amplified torque output on a plane perpendicular to the z b axis. The anti-rolling torque generated by the anti-rolling gyroscope acts on the hull through its support base to reduce the rolling motion of the ship. The anti-rolling torque and precession torque generated by the gyro

[0005]

[0006] where: M xb is the anti-rolling torque; M yb is the precession torque; h0 is the momentum moment constant of the rotor, β is the precession angle of the rotor; J is the moment of inertia of the rotor; is the rolling angle of the ship. It can be seen that the anti-rolling torque generated by the gyro is proportional to the precession angular velocity of the gyro.

[0007] Most of the current anti-rolling gyros adopt a passive precession method based on a switching solenoid valve, and rely on the roll angular velocity of the ship to generate a precession torque M yb to perform precession, and its precession speed cannot be actively controlled. As a result, the precession stroke cannot be fully utilized in low sea conditions, reducing the anti-rolling effect; while in high sea conditions, it often stops at the maximum precession position, and the sudden stop of precession seriously reduces the service life of the gyro. Summary of the Invention

[0008] The purpose of the present invention is to provide a controllable precession control method, device and storage medium for an anti-rolling gyro, which are used to improve the anti-rolling effect of the ship anti-rolling gyro; eliminate the roll acceleration caused by the sudden stop of precession, improve the comfort of the ship; and improve the service life of the anti-rolling gyro.

[0009] The purpose of the present invention is achieved through the following technical solutions:

[0010] A controllable precession control method for an anti-rolling gyro, the specific steps are as follows:

[0011] Step 1: Inject hydraulic oil into the hydraulic system through a ball valve in the anti-rolling gyro precession device at the initial stage; when the system is running, use an inertial measurement unit to obtain the roll angle and roll angular velocity of the ship;

[0012] Step 2: Continuously count 5 roll periods of the ship, and rely on the autoregressive model AR to predict the next roll period of the ship;

[0013] Step 3: According to the predicted roll period of the ship, plan the motion trajectory of the anti-rolling gyro; make the precession angle of the gyro move in a sine manner in each period and reach the maximum precession angle;

[0014] Step 4: Use a proportional valve to adjust the hydraulic flow rate and control the precession speed of the gyro, so that the maximum precession speed is maintained when the roll angular velocity is the largest, and the phase matching between the anti-rolling torque of the gyro and the wave interference torque is realized;

[0015] Step 5: When the predicted roll period of the ship ends, this period is the current period. Combine this period with the previous 4 periods, a total of 5 periods, and continue to predict the upcoming next roll period, and repeat the control of the progress of the anti-rolling gyro.

[0016] Further, the roll period of the ship in step 2 starts timing when the roll angle passes through 0, and the time experienced from the subsequent second 0 crossing is 1 / 2 of a period, and the time experienced from the third 0 crossing is the current roll period; continuously count 5 roll periods of the ship, denoted as T k-i , where k refers to the current period time, and i = 0, 1, 2, 3, 4;

[0017] At the end of the current cycle k, an AR model is used to predict the next ship rolling period T k+1 The specific prediction method is as follows:

[0018]

[0019] Wherein: is the predicted value of T k+1 ; a0 is the constant term; a i (i = 1, 2, 3, 4, 5) are the autoregressive coefficients; ε is a white noise sequence with a mean of 0 and a variance of .

[0020] Furthermore, in step 3, the predicted ship rolling period is used to construct the precession trajectory of the gyroscope for the next ship rolling period. The specific method is as follows:

[0021]

[0022] Wherein: β c (t) is the precession angle at time t, β m is the maximum allowable precession angle of the gyroscope device, which is determined by the mechanical structure of the gyroscope. In Figure 3 , β m = 70.0 degrees;

[0023] The actual precession angle β(t) of the gyroscope is measured by a potentiometer connected to the precession axis of the gyroscope, and the difference between the commanded precession angle and the actual precession angle is obtained as:

[0024] e β = β c (t) - β(t)

[0025] Wherein: e β is the precession difference;

[0026] The controller generates a proportional valve control command v β according to the precession difference e c , controls the opening of the proportional valve, adjusts the precession speed of the gyroscope, and makes the precession difference e β tend to 0, that is, makes the actual precession angle β(t) always track the precession command β c (t);

[0027] Make the gyroscope precess according to the planned sine trajectory. When the precession angle β reaches the maximum value, the precession angular velocity is degrees, avoiding the sudden change of the anti-rolling moment caused by the sudden stop when the precession angle reaches the maximum value, and improving the comfort of the ship.

[0028] Furthermore, when the ship rolling angle Roll angular velocity of the ship when passing through 0 Reaches the maximum value. At this time, the precession angle β also passes through the 0 moment, and the precession angular velocity also reaches the maximum value; According to the gyroscopic anti-rolling torque formula The anti-rolling torque also reaches the maximum value, so that the anti-rolling torque provided by the anti-rolling gyro is phase-matched with the roll angular velocity of the ship caused by the waves.

[0029] Further, in step 5, when the roll period of the ship ends, set k + 1 as the new k, and repeat steps 2 to 4 to continuously control the precession; when it is necessary to lock the precession of the gyro, the controller sets the precession command β c (t) = 0. When the actual precession angle β(t) of the gyro does not exceed the zeroing threshold β0, that is, |β(t)| ≤ β0, the proportional valve control command v c = 0. Using the 0-bit dead zone of the proportional valve, block the connection between the rod chamber and the non-rod chamber of the oil cylinder, so that the gyro cannot precess and is locked near the 0 position.

[0030] A computer device / equipment / system includes a memory, a processor, and a computer program stored on the memory. The processor executes the computer program to implement the steps of a controllable precession control method for an anti-rolling gyro.

[0031] A computer-readable storage medium stores a computer program / instructions. When the computer program / instructions are executed by a processor, the steps of a controllable precession control method for an anti-rolling gyro are implemented.

[0032] A computer program product includes a computer program / instructions. When the computer program / instructions are executed by a processor, the steps of a controllable precession control method for an anti-rolling gyro are implemented.

[0033] An electronic device, characterized in that it includes:

[0034] A memory for storing a computer program;

[0035] A processor for executing the computer program to implement a controllable precession control instruction tracking method for an anti-rolling gyro.

[0036] The beneficial effects of the present invention are as follows:

[0037] 1. The present invention controls the precession of the gyro according to the roll period, so that the gyro precesses in a sine form, keeps phase matching with the wave disturbing torque and precesses with the maximum amplitude, improving the anti-rolling effect of the gyro.

[0038] 2. Avoids emergency braking when reaching the maximum precession position in high sea conditions, keeps the anti-rolling torque in the linear region, improves the comfort of the ship, and increases the service life of the anti-rolling gyro.

[0039] 3. Compared with the active precession gyroscope, the same anti-rolling effect can be obtained, the structure of the gyroscope precession device is simplified, and the reliability of the anti-rolling gyroscope is improved.

[0040] In summary, the present invention includes a precession oil circuit based on a proportional valve and its control system. By actively controlling the precession of the anti-rolling gyroscope through the proportional valve, the maximum precession amount is maintained according to the planned sinusoidal precession trajectory in each ship rolling cycle, effectively improving the anti-rolling effect in low sea conditions, increasing the service life of the anti-rolling gyroscope, eliminating the increase in rolling acceleration caused by the sudden stop of precession, and improving comfort. Brief Description of the Drawings

[0041] Figure 1 It is a flowchart of controllable precession of the gyroscope;

[0042] Figure 2 It is the coordinate system of the anti-rolling gyroscope;

[0043] Figure 3 It is a schematic diagram of the principle of controllable precession;

[0044] Figure 4 It is a schematic diagram of ship rolling and gyroscope precession. Detailed Embodiment

[0045] The present invention will be further described below with reference to the accompanying drawings.

[0046] According to Figure 1 shown, a method for controlling the controllable precession of an anti-rolling gyroscope of the present invention comprises the following specific steps:

[0047] Step 1: The principle of controllable precession control of the gyroscope is as Figure 3 shown. A controllable precession control device for an anti-rolling gyroscope consists of a precession rocker arm 1, a precession oil cylinder 2-1, a hydraulic hose, a proportional valve 4, a ball valve 5, a potentiometer, an inertial measurement unit (IMU), a controller, etc. The rodless cavity of the precession oil cylinder 2-1 is connected to the rod cavity of the precession oil cylinder 2-2 through the first hydraulic hose 3-1 and the fourth hydraulic hose 3-4, and is connected to the second outlet of the proportional valve 4. The rod cavity of the precession oil cylinder 2-1 is connected to the rodless cavity of the precession oil cylinder 2-2 through the second hydraulic hose 3-2 and the third hydraulic hose 3-3, and is connected to the first outlet of the proportional valve 4. The potentiometer is used to measure the actual precession angle of the gyroscope, and the IMU measures the rolling angle and rolling angular velocity of the ship. The potentiometer and the proportional valve 4 are connected to the controller through cables. The controller controls the opening direction and size of the proportional valve 4 to control the precession direction and speed of the gyroscope, and obtain the best anti-rolling effect. The ball valve 5 is used to inject hydraulic oil into the hydraulic system initially.

[0048] Step 2: Use the inertial measurement unit to obtain the roll angle and roll angular velocity of the ship. Start timing when the roll angle crosses 0, and the time elapsed from this moment to the second subsequent moment when it crosses 0 is 1 / 2 of a period, and the time elapsed to the third moment when it crosses 0 is the current roll period. Continuously count 5 roll periods of the ship, denoted as T k-i , where k refers to the current period moment, and i = 0, 1, 2, 3, 4.

[0049] Step 3: At the end of the current period k, use the AR model to predict the next roll period T k+1 of the ship.

[0050]

[0051] In the formula: is the predicted value of T k+1 ; a0 is the constant term; a i (i = 1, 2, 3, 4, 5) are the autoregressive coefficients; ε is a white noise sequence with a mean of 0 and a variance of .

[0052] Step 4: As Figure 4 shown, use the predicted roll period of the ship to construct the precession trajectory of the gyroscope for the next roll period

[0053]

[0054] In the formula: β c (t) is the precession angle at time t, β m is the maximum allowable precession angle of the gyroscope device, which is determined by the mechanical structure of the gyroscope. In Figure 4 β m = 70.0 degrees.

[0055] Step 5: Measure the actual precession angle β(t) of the gyroscope by the potentiometer connected to the precession axis of the gyroscope, and obtain the difference between the commanded precession angle and the actual precession angle

[0056] e β = β c (t) - β(t)

[0057] Step 6: The precession controller generates a proportional valve control command v β according to the precession difference e c , controls the opening of the proportional valve, adjusts the precession speed of the gyroscope, and makes the precession difference e β tend to 0, that is, makes the actual precession angle β(t) always track the precession command β c (t).

[0058] Step 7: Make the gyro precess along the planned sine trajectory. When the precession angle β reaches the maximum value, the precession angular velocity degree, avoiding the sudden stop when the precession angle reaches the maximum value, which causes the sudden change of the anti-rolling moment and improves the comfort of the ship. At the same time, the service life of the anti-rolling gyro is extended.

[0059] Step 8: As Figure 4 shown, when the ship's rolling angle passes through 0, the ship's rolling angular velocity reaches the maximum value. At this time, the precession angle β also passes through 0, and the precession angular velocity also reaches the maximum value. According to the gyro anti-rolling moment formula the anti-rolling moment also reaches the maximum value, so that the anti-rolling moment provided by the anti-rolling gyro is phase-matched with the ship's rolling angular velocity caused by the waves, providing the best anti-rolling effect.

[0060] Step 9: At the end of the current cycle, set k + 1 as the new k, and repeat Steps 1 to 7 to continuously control the precession.

[0061] Step 10: When it is necessary to lock the precession of the gyro, the controller sets the precession command β c (t) = 0. When the actual precession angle β(t) of the gyro does not exceed the zeroing threshold β0, that is, |β(t)| ≤ β0, the proportional valve control command v c = 0. Utilizing the zero-position dead zone of the proportional valve, the connection between the rod chamber and the non-rod chamber of the oil cylinder is blocked, making the gyro unable to precess and locking near the zero position.

[0062] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A controllable precession control method for a gyro stabilizer, characterized in that: The specific steps are as follows: Step 1: Inject hydraulic oil into the hydraulic system through the ball valve in the precession device of the anti-rolling gyro at the initial stage; when the system is running, use the inertial measurement unit to obtain the roll angle and roll angular velocity of the ship; Step 2: Continuously count 5 roll periods of the ship, and rely on the autoregressive model AR to predict the next roll period of the ship; Step 3: According to the predicted roll period of the ship, plan the motion trajectory of the anti-rolling gyro; make the precession angle of the gyro move in a sine manner in each period and reach the maximum precession angle; Step 4: Use the proportional valve to adjust the hydraulic flow rate and control the precession speed of the gyro, so that the maximum precession speed is maintained when the roll angular velocity is the largest, and the phase matching between the anti-rolling torque of the gyro and the wave interference torque is realized; Step 5: When the predicted roll period of the ship ends, this period is the current period. Combine this period with the previous 4 periods, a total of 5 periods, and continue to predict the upcoming next roll period, and repeat the control of the progress of the anti-rolling gyro.

2. The controllable precession control method of a roll reduction gyroscope according to claim 1, characterized in that: In step 2, the rolling period of the ship is timed starting from the moment when the rolling angle passes through 0. The time elapsed until the second moment when it passes through 0 is 1 / 2 of a period, and the time elapsed until the third moment when it passes through 0 is the current rolling period. Continuously count 5 rolling periods of the ship, denoted as T k-i , where k refers to the current cycle moment, and i = 0, 1, 2, 3, 4; At the end of the current cycle k, the AR model is used to predict the next ship rolling period T k+1 The specific prediction method is as follows: Wherein: is the predicted value of T k+1 ; a0 is the constant term; a i (i = 1, 2, 3, 4, 5) are the autoregressive coefficients; ε is a white noise sequence with a mean of 0 and a variance of .

3. A controllable precession control method for a gyroscopic anti-rolling device according to claim 2, characterized in that: The said step 3 utilizes the predicted ship rolling period to construct the precession trajectory of the gyroscope for the next ship rolling period, specifically as follows: Where: β c (t) is the precession angle at time t, β m is the maximum allowable precession angle of the gyroscope device, which is determined by the mechanical structure of the gyroscope, β m = 70.0 degrees; The actual precession angle β(t) of the gyro is measured by the potentiometer connected to the precession axis of the gyro, and the difference between the commanded precession angle and the actual precession angle is: e β = β c (t) - β(t) where: e β is the precession difference; The controller generates a proportional valve control command v based on the precession difference e β to control the opening of the proportional valve, adjust the precession speed of the gyroscope, and make the precession difference e c tend to 0, that is, make the actual precession angle β(t) always track the precession command β β (t); c (t); Make the gyro precess according to the planned sine trajectory. When the precession angle β reaches the maximum value, the precession angular velocity degree, avoid the sudden change of the anti-rolling moment caused by the sudden stop when the precession angle reaches the maximum value, and improve the comfort of the ship.

4. A controllable precession control method for a gyroscopic anti-rolling device according to claim 3, characterized in that: In step 4, when the ship's roll angle passes through 0, the ship's roll angular velocity reaches its maximum value. At this time, the precession angle β also passes through 0, and the precession angular velocity also reaches its maximum value. According to the gyroscopic anti-rolling moment formula the anti-rolling moment also reaches its maximum value, so that the anti-rolling moment provided by the anti-rolling gyro is phase-matched with the ship's roll angular velocity caused by the waves.

5. A controllable precession control method for a gyroscopic anti-rolling device according to claim 4, characterized in that: In step 5, when the ship's rolling period ends, set k + 1 as the new k, and repeat steps 2 to 4 to continuously control the precession; when it is necessary to lock the precession of the gyroscope, the controller sets the precession command β c (t) = 0. When the actual precession angle β(t) of the gyroscope does not exceed the zeroing threshold β0, that is, |β(t)| ≤ β0, the proportional valve control command v c = 0. Utilize the zero-position dead zone of the proportional valve to block the connection between the rod chamber and the non-rod chamber of the oil cylinder, so that the gyroscope cannot precess and is locked near the zero position.

6. A computer device / apparatus / system, comprising a memory, a processor, and a computer program stored on the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 5.

7. A computer-readable storage medium having computer programs / instructions stored thereon, characterized in that: When the computer program / instructions are executed by the processor, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer program product, comprising a computer program / instructions, characterized in that: When the computer program / instructions are executed by the processor, the steps of the method according to any one of claims 1 to 5 are implemented.

9. An electronic device, characterized in that, Including: A memory for storing the computer program; A processor for executing the computer program to implement the instruction tracking method according to any one of claims 1 to 5.

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