Rod system linkage high-precision control vertical multi-plate wave making system and control method thereof

Abstract

According to the rod system linkage high-precision control vertical multi-plate wave making system and the control method thereof, the computer control system generates a nonlinear wave control signal, and the controller and the driving device independently drive the hinge point on each wave making plate, so that fine adjustment of local movement of the wave making plates is realized, and the wave making precision is improved. And the vertical speed and the displacement profile of the target wave are reproduced in a high-fidelity manner by accurately controlling the displacement of each hinge point. Specifically, a transfer function of the swing amplitude and the wave height of each plate of the vertical multi-plate wave maker is deduced through a hydrodynamic ideal fluid potential flow theory, and the specific displacement of each hinge point is solved simultaneously by combining the consistent relation of the swing amplitude of each plate and the displacement or speed ratio of nonlinear wave vertical distribution and the geometric invariant characteristic of each wave making plate. And according to the geometric nonlinear relationship between the hinge point of the wave-making plate and the motion of the servo sliding block connecting rod, the motion law of the servo motor is obtained, and the high-precision reproduction of the vertical multi-plate wave-making system on the target wave is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrodynamic experimental research, and more specifically, to a vertical multi-plate wave-making system with high-precision control of rod system linkage and its control method. Background Art

[0002] In the fields of ocean engineering and hydrodynamic test and measurement, a wave maker is an essential device for physical model tests. The wave maker is usually installed at one end of a test water tank or pool, and generates waves through the reciprocating motion of a wave-making plate. Due to the complexity and diversity of experimental research, it is often required that the wave maker can accurately generate waves that meet specific conditions. Among them, the basic principle of a vertical multi-plate wave maker is to use a computer control system and actuators to drive one or more groups of vertically placed wave-making plates to make them reciprocate, so as to generate waves in the water tank. The main advantage of the vertical multi-plate wave maker is that it can more accurately reflect the vertical non-linear velocity distribution of fluid particles in the wave field, and the wave modulation distance is shorter, so it can generate more accurate waves within a range closer to the wave-making plate.

[0003] When using a vertical multi-plate wave-making system to simulate and produce waves, due to the non-linear effects of large-amplitude waves, the non-linear characteristics of mechanical system transmission and cooperation, etc., trajectory simulation errors will occur. In order to more accurately control the vertical multi-plate wave-making system to form target waves in the water tank, multi-rod system linkage of the vertical multi-plate wave-making system and non-linear control methods can be used to reproduce complex wave environments with high fidelity in the laboratory, so as to provide an experimental basis for the verification of non-linear hydrodynamic theory, promote the progress of high-precision motion control of the vertical multi-plate wave-making system, and optimize and accelerate the reliability and safety test results of ocean engineering equipment. Summary of the Invention

[0004] The purpose of the present invention is to overcome at least one defect or deficiency of the above-mentioned prior art, and provide a vertical multi-plate wave-making system with high-precision control of rod system linkage and its control method.

[0005] On the one hand, the present invention provides a vertical multi-plate wave-making system with high-precision control of rod system linkage. The vertical multi-plate wave-making system includes a plurality of vertically arranged and hinged wave-making plates, a control device and a driving device. Each hinge point of the wave-making plate is independently driven by the driving device;

[0006] The driving device includes a motor, a linear lead screw connected to the output end of the motor, a slider threadedly engaged with 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 compound motion of the hinge point on the wave-making plate;

[0007] The control device includes a computer control system and a plurality of controllers electrically connected to the drive device. The controller is connected to the drive device and is used to receive a wave control signal and instruct the drive device to drive the wave-making plate to move. The computer control system is connected to the controller for communication and generates a nonlinear wave control signal according to the target wave shape analysis. The wave control signal comprehensively compensates for the nonlinear dynamic error of the wave-making plate movement caused by the transmission of the drive device in the wave-making system.

[0008] In this technical solution, the accuracy, flexibility and dynamic response capability of wave simulation are significantly improved through the combination of mechanical structure optimization and intelligent control strategy. Specifically, the hinge points on each wave-making board are independently driven by the controller and the drive device, thereby realizing the fine adjustment of the local movement of the wave-making board. 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. The computer control system generates a nonlinear wave control signal according to the target wave shape analysis, wherein the wave control signal comprehensively compensates for the nonlinearity of the wave-making board movement caused by the transmission of the drive device in the wave-making system. Dynamic error, through the deep coupling of inverse kinematics solution and multi-board collaborative optimization, specifically, through the precise control of the motion mode of the hinge points connected on the wave-making board, the fine decomposition and simulation of the wave motion is realized, and the theoretical wave displacement is converted into an actually executable nonlinear displacement instruction for the hinge points, which greatly reduces the deviation between the actual motion of the wave-making board and the theoretical value. At the same time, the motion mode of multiple wave-making boards is defined through the coordinated motion of multiple hinge points, realizing the leap from "single-board local control" to "multi-board global optimization", and then realizing the high-precision reproduction of the vertical multi-board wave-making system in nonlinear compensation, complex waveform generation and real-time collaboration.

[0009] Specifically, the computer control system has a built-in nonlinear control algorithm module, and the specific implementation process of the nonlinear control algorithm module parsing and generating nonlinear wave control signals is as follows: the transfer function of the swing amplitude and wave height of each wave-making plate in the vertical multi-plate wave-making system is derived through the hydrodynamic ideal fluid potential flow theory, and then the specific displacement of each hinge point is solved by combining the consistent relationship between the swing amplitude of each wave-making plate and the displacement or velocity ratio of the vertical distribution of the nonlinear wave, and the geometric invariant characteristics of each wave-making plate. Then, according to the geometric nonlinear relationship between the movement of the hinge point of the wave-making plate and its corresponding slider and connecting rod, the movement law of the motor is obtained. 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 guaranteed, and the accuracy, flexibility and dynamic response capability of wave simulation are significantly improved.

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

[0011] The driving device further includes a push rod, which is arranged parallel to the linear lead screw, and one end of the push rod is fixedly connected to the slider, and the other end is hinged to one end of the connecting rod;

[0012] The wave-making board is vertically arranged in the experimental water body; the push rod passes through the partition board and is in sliding fit with it, and is used to isolate the motor from the experimental water body.

[0013] In this technical solution, by setting the partition board, and arranging a push rod parallel to the linear lead screw between the connecting rod and the slider, and setting the push rod to be in sliding fit with the partition board, it is ensured that the mechanical transmission has both freedom and sealing performance, so as to effectively physically isolate the motor, the linear lead screw and the experimental water body of the water tank, and avoid problems such as short circuit and corrosion caused by water seepage into the motor compartment, significantly improving the service life of the equipment. Further, the push rod is arranged parallel to the linear lead screw, which also optimizes the linear motion transmission path, reduces energy loss, reduces the bending vibration caused by the lateral force on the push rod, and avoids slider jamming or wear of the threads of the linear lead screw; at the same time, the partition board serves as the guiding reference for the push rod, and through high-precision machining, it can ensure that the axis of motion of the push rod is strictly parallel to the axis of the linear lead screw, thereby reducing mechanical interference during the linkage of multiple boards and improving the accuracy of wave simulation of the vertical multi-board wave-making system.

[0014] Preferably, a flexible sealing structure is provided at the mating part between the partition board and the push rod, and the flexible sealing structure is a multi-layer silicone rubber sealing ring; the multi-layer silicone rubber sealing ring with excellent elastic deformation adapts to the reciprocating motion of the push rod, and still maintains high sealing performance, durability and stability of the transmission of the vertical multi-board wave-making system under dynamic conditions; at the same time, the multi-layer silicone rubber sealing ring has a low cost. Preferably, a quick-release design is also adopted, which can be quickly replaced without disassembling the driving device, greatly reducing the maintenance time and maintenance cost.

[0015] Another object of the present invention is also to provide a control method for a vertical multi-board wave-making system, including the following steps:

[0016] S1. Analyze and generate the displacement information of the wave-making board according to the target wave shape;

[0017] S2. Generate a non-linear displacement command for the linear lead screw according to the non-linear control relationship between the linear lead screw and the wave-making board; and solve the constraint equations for the linkage of multiple wave-making boards in real time to realize the coordinated movement between multiple wave-making boards.

[0018] In this technical solution, the control method of the vertical multi-plate wave-making system realizes the high-precision and dynamic simulation of complex waves through the combination of theoretical modeling and real-time nonlinear compensation. Specifically, in step S1, a certain water wave theory is used to analyze the vertical velocity and displacement profiles of the target wave, generating the theoretical displacement information of the wave-making plate to ensure 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 movement of the wave-making plate; in step S2, by constructing a nonlinear mathematical model of the linear screw rod - wave-making plate, the nonlinear errors such as friction, clearance, and inertia in mechanical transmission are compensated, converting the theoretical displacement into an actual executable nonlinear instruction, greatly reducing the deviation between the actual movement of the wave-making plate and the theoretical value; at the same time, according to the constraint equations of the linkage of multiple wave-making plates, the phase difference, amplitude ratio, and horizontal compensation amount of each plate are quickly solved to ensure the continuous movement of adjacent plates, avoid local vortices or energy breaks, and improve the multi-plate collaborative movement and dynamic stability of the vertical multi-plate wave-making system.

[0019] Further, in step S2, the nonlinear control relationship between the linear screw rod and the wave-making plate is as follows:

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

[0021]

[0022] Among them, on the same wave-making plate, O is the hinge point as the reference, A is the hinge point that generates movement, B is the slider corresponding to the connection of the A hinge point, α is the horizontal angle of the movement trajectory of the A hinge point, and θ is the vertical angle of the movement trajectory of the A hinge point;

[0023] After eliminating α, the following formula is satisfied between θ and x:

[0024]

[0025] And the horizontal displacement S of the A hinge point satisfies the displacement relationship of the vertical velocity profile of the water wave theory; the water wave theory can be linear water wave theory or 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 Airy wave theory,

[0028] The displacement relationship of the vertical velocity profile of the water wave theory is: the linear wave in finite water depth changes sinusoidally with time; that is, the relationship between the horizontal displacement S of the A hinge point 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 non-linear theories such as Stokes wave and Boussinesq wave.

[0031] Furthermore, in step S2, the constraint equation for the linkage of the plurality of wave-making 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 between adjacent hinge points;

[0035] The computer control system makes the Si and hi of all wave-making plates match the displacement information of the wave-making plates analytically generated according to the target wave shape in step S1 by solving the Si and hi of all wave-making plates simultaneously, adding boundary constraint conditions, and presetting the motion trajectories of each hinge point, so as to achieve high-precision control of the coordinated movement of the plurality of wave-making plates.

[0036] Furthermore, the algorithm for the simultaneous solution adopts a modified Powell hybrid algorithm or a Jacobi approximate finite difference method.

[0037] Furthermore, position sensors are provided at the hinge points of the wave-making plates; the slider is provided with a position sensor on it.

[0038] In this technical solution, by providing position sensors at the hinge points of the wave-making plates and the slider, the displacement and attitude of the key motion nodes can be monitored in real time. Specifically,

[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-making plate can be obtained. After comparing with the non-linear control relationship between the linear screw rod and the wave-making plate, the coordinated errors caused by the deformation of the connecting rod and the hinge clearance are eliminated through closed-loop correction, improving the accuracy, dynamic response ability and reliability of the multi-plate linkage of the vertical multi-plate wave-making system.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] 1. A vertical multi-plate wave-making system with high-precision control by rod-linkage is provided. By combining mechanical structure optimization and intelligent control strategies, the accuracy, flexibility, and dynamic response ability of wave simulation are significantly improved. Specifically, each hinge point on the wave-making plate is independently driven by a controller and a driving device, thereby realizing fine adjustment of the local movement of the wave-making plate. By precisely controlling the displacement and phase difference of each hinge point, the system can reproduce the vertical velocity and displacement profiles of the target wave with high fidelity. Secondly, by making the computer control system generate non-linear wave control signals, specifically, by compensating for non-linear errors caused by friction, clearance, etc. in the linear screw drive and dynamic coupling interference in multi-plate linkage through algorithms built into the computer control system, the deviation between the actual movement trajectory of the mechanical system and the theoretical waveform is greatly reduced, thus ensuring the high-precision wave reproduction ability of the vertical multi-plate wave-making system..

[0042] 2. A control method for a multi-plate wave-making system is provided. By combining theoretical modeling and real-time non-linear compensation, high-precision and dynamic simulation of complex waves is achieved. Specifically, in step S1, a certain water wave theory is used to analyze the vertical velocity and displacement profiles of the target wave, and the theoretical displacement information of the wave-making plate is generated to ensure that the wave shape, such as wave crest sharpness, wave trough flatness, etc., is consistent with the physical laws of the wave-making plate movement. In step S2, by constructing a non-linear mathematical model of the linear screw - wave-making plate, the non-linear error in the movement of the wave-making plate caused by mechanical drive is compensated, and the theoretical displacement is converted into an actual executable non-linear instruction, greatly reducing the deviation between the actual movement of the wave-making plate and the theoretical value. At the same time, according to the constraint equations of the linkage of multiple wave-making plates, the phase difference, amplitude ratio, and horizontal compensation amount of each plate are quickly solved to ensure continuous movement of adjacent plates, avoid local vortices or energy breaks, and improve the multi-plate collaborative movement and dynamic stability of the vertical multi-plate wave-making system. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0044] Figure 2 It is a schematic structural diagram showing the non-linear control state of the linear screw and the wave-making plate in the present invention.

[0045] Figure 3 It is an implementation photo of a vertical multi-plate wave-making system with high-precision control by rod-linkage including three vertically arranged wave-making plates, which generates waves through the linkage of the three mutually articulated wave-making plates and reciprocating motion.

[0046] Number description: wave-making plate 100, motor 201, linear screw 202, slider 203, connecting rod 204, push rod 205, computer control system 301, controller 302, water tank 400, partition 401. Detailed implementation manners

[0047] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below. Obviously, what is described is a part of the embodiments of the present invention, rather than all embodiments.

[0048] Embodiment 1

[0049] As Figure 1 shown, this embodiment provides a vertical multi-plate wave-making system with high-precision control of rod system linkage. The vertical multi-plate wave-making system includes a plurality of wave-making plates 100 that are vertically arranged and hinged to each other, a control device, and a driving device. Each hinge point of the wave-making plate 100 is independently driven by the driving device;

[0050] The driving device includes a motor 201, a linear lead screw 202 connected to the output end of the motor 201, a slider 203 threadedly engaged with the linear lead 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 lead 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 a plurality of controllers 302 electrically connected to the driving device correspondingly. The controller 302 is correspondingly connected to the driving device and is used to receive the wave control signal and instruct the driving device to drive the wave-making plate 100 to move; the computer control system 301 is communicatively connected to the controller 302 and analyzes and generates a non-linear wave control signal according to the target wave shape; the wave control signal comprehensively compensates for the non-linear dynamic error generated by the mechanical transmission of the driving device in the vertical multi-plate wave-making system.

[0052] Specifically, through the combination of mechanical structure optimization and intelligent control strategy, the accuracy, flexibility, and dynamic response ability of wave simulation are significantly improved; by the controller 302 and the driving device independently driving the hinge points on each wave-making plate 100, the fine adjustment of the local movement of the wave-making plate 100 is realized. By accurately controlling the displacement and phase difference of each hinge point, the system can reproduce the vertical velocity and displacement profiles of the target wave with high fidelity; secondly, by making the computer control system 301 generate a non-linear wave control signal, specifically, by the algorithm built in the computer control system 301 to compensate for the non-linear errors caused by the friction, clearance, etc. of the transmission of the linear lead screw 202, as well as the dynamic coupling interference of multi-plate linkage, the deviation between the actual movement trajectory of the mechanical system and the theoretical waveform is greatly reduced, thereby ensuring the high-precision wave reproduction ability of the vertical multi-plate wave-making system.

[0053] Furthermore, the computer control system 301 has a built-in non-linear control algorithm module. Specifically, the specific implementation process of the non-linear control algorithm module for parsing and generating non-linear wave control signals is as follows:

[0054] Derive the transfer function between the amplitudes of each wave-making plate 100 and the wave height in the vertical multi-plate wave-making system through the hydrodynamic ideal fluid potential flow theory. Then, combine the relationship that the ratio of the amplitude of each wave-making plate 100 to the displacement or velocity of the non-linear wave vertical distribution is consistent, and the geometric invariant characteristics of each wave-making plate 100. Solve the specific displacements of the hinge points on each wave-making plate 100 by simultaneous equations. Then, according to the geometric non-linear relationship between the hinge points and the motions of the corresponding sliders 203 and connecting rods 204, obtain the motion law of the motor 201.

[0055] Furthermore, the vertical multi-plate wave-making system further includes a water tank 400 for containing experimental water, and a partition 401 provided on the side wall of the water tank 400;

[0056] The driving device further includes a push rod 205. The push rod 205 is arranged parallel to the linear lead screw 202, and one end is fixedly connected to the slider 203, and the other end is hinged to one end of the connecting rod 204;

[0057] The wave-making plate 100 is vertically arranged in the experimental water; the push rod 205 passes through the partition 401 and is in sliding fit with it, and is used to isolate the motor 201 from the experimental water.

[0058] Furthermore, by providing the partition 401, and arranging a push rod 205 parallel to the linear lead screw 202 between the connecting rod 204 and the slider 203, and setting the push rod 205 to be in sliding fit with the partition 401, it is ensured that the degrees of freedom and sealing performance of the mechanical transmission coexist, so as to effectively physically isolate the motor 201, the linear lead screw 202 and the experimental water in the water tank 400, and avoid problems such as short circuit and corrosion caused by water seeping into the motor 201 compartment, and significantly improve the service life of the equipment. Furthermore, the push rod 205 is arranged parallel to the linear lead screw 202, which also optimizes the linear motion transmission path, reduces energy loss, reduces the bending vibration caused by the lateral force on the push rod 205, and avoids jamming of the slider 203 or wear of the threads of the linear lead screw 202; at the same time, the partition 401 serves as the guiding reference for the push rod 205, and through high-precision machining, it can ensure that the motion axis of the push rod 205 is strictly parallel to the axis of the linear lead screw 202, thereby reducing the mechanical interference during the multi-plate linkage and improving the accuracy of wave simulation of the vertical multi-plate wave-making system.

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

[0060] Embodiment 2

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

[0062] S1. Analyze and generate the displacement information of the wave-making plate 100 according to the target wave shape;

[0063] S2. Generate a non-linear displacement command for the linear screw rod 202 according to the non-linear control relationship between the linear screw rod 202 and the wave-making plate 100; and solve the constraint equations of the linkage of multiple wave-making plates 100 in real time to realize the coordinated movement between multiple wave-making plates 100.

[0064] Specifically, the control method of the vertical multi-plate wave-making system realizes the high-precision and dynamic simulation of complex waves through the combination of theoretical modeling and real-time non-linear compensation. Specifically, in step S1, a certain water wave theory is used to analyze the vertical velocity and displacement profile of the target wave, and the theoretical displacement information of the wave-making plate 100 is generated to ensure that the wave shape, such as the sharpness of the wave crest and the flatness of the wave trough, is consistent with the physical law of the movement of the wave-making plate 100; in step S2, by constructing a non-linear mathematical model of the linear screw rod 202 - wave-making plate 100, the non-linear errors such as friction, clearance and inertia in the mechanical transmission are compensated, and the theoretical displacement is converted into an actual executable non-linear command, greatly reducing the deviation between the actual movement of the wave-making plate 100 and the theoretical value; at the same time, according to the constraint equations of the linkage of multiple wave-making plates 100, the phase difference, amplitude ratio and horizontal compensation amount of each plate are quickly solved to ensure the continuous movement of adjacent plates, avoid local vortices or energy breaks, and improve the multi-plate coordinated movement and dynamic stability of the vertical multi-plate wave-making system.

[0065] Further, as Figure 2 shown, in step S2, the non-linear control relationship between the linear screw rod 202 and the wave-making plate 100 is:

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

[0067]

[0068] Wherein, on the same wave-making plate 100, O is a hinge point used as a reference, A is a hinge point generating movement, B is a slider 203 corresponding to the hinge point A, α is a horizontal angle of the movement track of the hinge point A, and θ is a vertical angle of the movement track of the hinge point A;

[0069] After eliminating α, the relationship between θ and x satisfies the following equation:

[0070]

[0071] And the horizontal displacement S of the hinge point A satisfies the displacement relationship of the vertical velocity profile of the water wave theory; and the water wave theory can be a linear water wave theory or a 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: the linear wave of finite water depth satisfies the sine relationship with time; that is, the relationship between the horizontal displacement S of the A hinge point and θ is:

[0074] S = AO sin (θ) (3).

[0075] Optionally, the displacement relationship of the vertical velocity profile of the water wave theory can also adopt nonlinear theories such as Stokes wave and Boussinesq wave.

[0076] Furthermore, if Figure 1 As shown, in step S2, the constraint equation for the linkage of multiple wave-making plates 100 is:

[0077]

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

[0079] Among them, 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-making plates 100 jointly, adds boundary constraints, and presets the motion trajectory of each hinge point to match the displacement information of the wave-making plate 100 generated according to the target wave shape analysis in step S1, so as to achieve high-precision control of the coordinated motion of multiple wave-making plates 100.

[0081] Furthermore, the algorithm for simultaneous solution uses a modified Powell hybrid algorithm or a Jacobi approximate finite difference method.

[0082] Furthermore, position sensors are provided at the hinge points of the wave-making board 100; the slider 203 is provided with position sensors on it.

[0083] Furthermore, by providing position sensors at the hinge points of the wave-making board 100 and the slider 203, the displacement and attitude of key motion nodes can be monitored in real time. Specifically, the horizontal displacement and vertical displacement of the hinge points are monitored in real time, so that the actual motion trajectory of the wave-making board 100 can be obtained. After comparing with the non-linear control relationship between the linear screw rod 202 and the wave-making board 100, the cooperative errors caused by the deformation of the connecting rod 204 and the hinge clearance are eliminated through closed-loop correction, improving the accuracy, dynamic response ability and reliability of the multi-board linkage of the vertical multi-board wave-making system.

[0084] Embodiment 3

[0085] This embodiment provides a vertical multi-board wave-making system with high-precision control of rod system linkage including three vertically arranged wave-making boards, as Figure 3 shown, which shows the real-time situation of the vertical multi-board wave-making system generating waves through the linkage of three mutually hinged wave-making boards and reciprocating motion under the limitation of actual water depth conditions; specifically, in the case of a given actual water depth and given parameters of the vertical wave-making system, the parameters are input into the computer control system, and the computer control system analyzes the vertical velocity and displacement profile of the target wave to be formed, thereby generating the corresponding non-linear displacement information of the wave-making board, and driving the hinge points on the wave-making board to move along the predetermined motion path through the controller to drive the linear screw rod, slider and push rod, and generating the predetermined wave in the experimental water body in the water tank.

[0086] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A vertical multi-plate wave-making system with high-precision control by rod-linkage, characterized in that, The vertical multi-plate wave-making system comprises a plurality of vertically arranged and mutually hinged wave-making plates, a control device and a driving device, and each hinge point of the wave-making plates is independently driven by the driving device; The driving device includes a motor, a linear screw connected to the output end of the motor, a slider threaded with the linear screw, and a connecting rod fixedly connected to the slider at one end and hinged to the wave-making plate at the other end, for converting the linear motion of the linear screw into a compound motion of the hinge point on the wave-making plate; The control device includes a computer control system and a plurality of controllers electrically connected to the driving device. The controller is connected to the driving device and is used to receive a wave control signal and instruct the driving device to drive the wave-making plate to move. The computer control system is connected to the controller for communication and generates a nonlinear control signal according to the vertical velocity profile shape of the target wave. The wave control signal comprehensively compensates for the nonlinear dynamic error of the wave-making plate movement caused by the transmission of the driving device in the vertical multi-plate wave-making system.

2. The vertical multi-plate wave-making system according to claim 1, wherein, The computer control system has a built-in nonlinear control algorithm module. The specific implementation process of the nonlinear control algorithm module parsing and generating a nonlinear wave control signal is as follows: The transfer function between the swing amplitude and wave height of each wave-making plate in the vertical multi-plate wave-making system is derived through the potential flow theory of ideal fluid in hydrodynamics. Combined with the consistent relationship between the swing amplitude of each wave-making plate and the displacement or velocity ratio of the vertical distribution of nonlinear waves and the geometric invariant characteristics of each wave-making plate, the specific displacement of the hinge point on each wave-making plate is solved jointly. Then, according to the geometric nonlinear relationship between the hinge point and the movement of the corresponding slider and connecting rod, the movement law of the motor is obtained.

3. The vertical multi-plate wave-making system according to claim 1, wherein The vertical multi-plate wave-making system also includes a water tank for containing the experimental water body, and a partition plate arranged on the side wall of the water tank; The driving device also includes a push rod, which is arranged parallel to the linear screw rod, and one end of the push rod is fixedly connected to the slider, and the other end is hinged to one end of the connecting rod; The wave-making plate is vertically arranged in the experimental water body; the push rod passes through the partition plate and slidably cooperates with the partition plate to isolate the motor from the experimental water body.

4. The vertical multi-plate wave-making system according to claim 3, characterized in that A flexible sealing structure is provided at the fitting position between the partition plate and the push rod, and the flexible sealing structure is a multi-layer silicone sealing ring.

5. The control method of the vertical multi-plate wave-making system according to any one of claims 1-4, characterized in that, The following steps are involved: S1. Analyze and generate displacement information of the wave-making plate according to the target wave shape; S2. Generate a nonlinear displacement command of the linear screw according to the nonlinear control relationship between the linear screw and the wave-making plate; and solve the constraint equations of the linkage of multiple wave-making plates in real time to achieve coordinated movement among the multiple wave-making plates.

6. The control method of the vertical multi-plate wave-making system according to claim 5, characterized in that, In step S2, the nonlinear control relationship between the linear screw and the wave-making plate is: The displacement x of the linear screw satisfies the following relationship: Among them, on the same wave-making plate, O is the hinge point used as a reference, A is the hinge point that generates movement, B is the slider connected to the hinge point A, α is the horizontal angle of the motion trajectory of the hinge point A, and θ is the vertical angle of the motion trajectory of the hinge point A; After eliminating α, the relationship between θ and x satisfies the following equation: And the horizontal displacement S of the hinge point A satisfies the displacement relationship of the vertical velocity profile in the water wave theory.

7. The control method of the vertical multi-plate wave-making system according to claim 6, characterized in that: The water wave theory is one of Airy wave theory, Stokes wave theory or Boussinesq wave theory; When the water wave theory adopts the Airy wave theory, the relationship between the horizontal displacement S of the A hinge point and θ is: S = AO sin (θ) (3).

8. The control method of the vertical multi-plate wave-making system according to claim 5, characterized in that, In step S2, the constraint equation for the linkage of the multiple wave-making plates is: (S i+1 -S i ) 2 -(h i+1 -h i ) 2 =l 2 (5); Among them, Si is the horizontal displacement of the i-th hinge, hi is the water depth corresponding to the i-th hinge, k is the wave number, and l is the distance between adjacent hinge points; The computer control system solves Si and hi of all wave-making plates jointly, adds motion control boundary constraints, and presets the motion trajectory of each hinge point to match the displacement information of the wave-making plate generated according to the target wave shape analysis in step S1, so as to achieve high-precision control of the coordinated motion of multiple wave-making plates.

9. The control method of the vertical multi-plate wave-making system according to claim 8, characterized in that The algorithm for the simultaneous solution adopts a modified Powell hybrid algorithm or a Jacobi approximate finite difference method.

10. The control method of the vertical multi-plate wave-making system according to any one of claims 5-9, characterized in that, A position sensor is arranged at the hinge point of the wave-making plate; and a position sensor is arranged on the sliding block.

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