Vibration control method, system and device of ship broadband and ship

Abstract

The invention discloses a ship broadband vibration control method, system and device and a ship, and is used for controlling vibration of a controlled system on the ship, and the method comprises the steps: obtaining an interference path vibration signal when the controlled system is subjected to interference excitation, and obtaining a control path vibration signal when the controlled system is not subjected to interference excitation; using the interference path vibration signal and the control path vibration signal to obtain an interference path frequency response characteristic and a control path frequency response characteristic of the controlled system; determining calculation parameters by using the interference path frequency response characteristics and the control path frequency response characteristics, wherein the calculation parameters are used as input data of a pre-constructed broadband disturbance feedback controller function; feedback voltage output by the broadband disturbance feedback controller function according to the calculation parameters is obtained, and the feedback voltage is used for adjusting the active action force of the controlled system so as to adjust vibration of the broadband of the controlled system. According to the technical scheme provided by the invention, the problem that the broadband spectrum vibration characteristics under random excitation cannot be effectively controlled can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of ships, and in particular, to a vibration control method, system, device and medium for ship broadband. Background Art

[0002] When a ship is sailing, the unbalanced pulsating excitation of the stern propeller will cause hull vibration and radiated noise. Due to the existence of the unsteady wake flow field at the stern of the ship, the broadband random force spectrum becomes an important feature of the pulsating excitation of the ship propeller. Different from the line spectrum feature of periodic excitation, the broadband excitation force of the propeller has random characteristics in the time domain and shows a low-frequency continuous broadband spectrum feature in the frequency domain.

[0003] Vibration active control technology is an effective measure to solve the low-frequency vibration problem at present. At this stage, vibration active control technology suppresses vibration by actively outputting energy.

[0004] However, the current vibration active control methods mainly focus on suppressing the structural line spectrum vibration characteristics under periodic excitation and cannot effectively control the broadband spectrum vibration characteristics under random excitation. Summary of the Invention

[0005] The present application provides a vibration control method, system, device and medium for ship broadband, aiming to effectively solve the technical problem that the prior art cannot effectively control the broadband spectrum vibration characteristics under random excitation.

[0006] According to the first aspect of the present application, a vibration control method for ship broadband is provided, which is used to control the vibration of a controlled system on a ship. The method includes: acquiring the vibration signal of the disturbance path of the controlled system under the disturbance excitation, and acquiring the vibration signal of the control path of the controlled system without the disturbance excitation; using the vibration signal of the disturbance path and the vibration signal of the control path to obtain the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path of the controlled system; using the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path to determine calculation parameters, and the calculation parameters are used as input data of a pre-constructed broadband disturbance feedback controller function, and the broadband disturbance feedback controller function is used to output a feedback voltage according to the calculation parameters; acquiring the feedback voltage output by the broadband disturbance feedback controller function according to the calculation parameters, and using the feedback voltage to adjust the active driving force of the controlled system so as to adjust the vibration of the broadband of the controlled system.

[0007] Further, the steps of obtaining the frequency response characteristics of the disturbance path and the control path of the controlled system by using the disturbance path vibration signal and the control path vibration signal include: under the disturbance excitation, obtaining the first prominent response peak frequency and the first amplitude characteristic of the vibration of each transmission path by using the disturbance path vibration signal, where the transmission paths include: the aft bearing transmission path, the forward aft bearing transmission path, and the thrust bearing transmission path; under no disturbance excitation, obtaining the second prominent response peak frequency and the second amplitude characteristic of the vibration of each control path by using the control channel vibration signal, where the control path includes the signal control path from the broadband disturbance feedback controller function to the controlled system.

[0008] Further, the vibration control method for ship broadband also includes: adjusting the vibration of the broadband by using a pre-constructed augmented model to assist the active driving force for adjusting the controlled system with the feedback voltage, where the expression of the augmented model is as follows: ; where G is the augmented model, C is the transfer function of the control path, W 1 is the performance weighting function, W 2 is the control quantity weighting function, W 3 is the complementary weighting function, I is the preset identity matrix.

[0009] Further, the augmented model has a vibration transfer function. The augmented model is used to output a vibration adjustment signal, and the vibration transfer function is used to transmit the vibration adjustment signal to the controlled system. The expression of the vibration transfer function includes: ; where, M(s) is the vibration transfer function, S is the output sensitivity function, T is the complementary sensitivity function, R is the input sensitivity function.

[0010] Further, the vibration control method for ship broadband also includes: pre-constructing the output sensitivity function S , the complementary sensitivity function T and the input sensitivity function R ; The steps of constructing the output sensitivity function S include: obtaining the transfer function of the control path C , the bandwidth feedback controller function K and the preset identity matrix I ; Using the transfer function of the control path C , the bandwidth feedback controller function K and the identity matrix IConstruct the output sensitivity function S ; Steps for constructing the complementary sensitivity function T include: Using the identity matrix I and the output sensitivity function S to construct the complementary sensitivity function T ; Steps for constructing the input sensitivity function R include: Using the bandwidth feedback controller function K and the output sensitivity function S to construct the input sensitivity function R .

[0011] Furthermore, the expression of the output sensitivity function S includes: ; The expression of the complementary sensitivity function T includes: ; The expression of the input sensitivity function R includes: ; wherein, C is the control path transfer function, K is the bandwidth feedback controller function, I is the identity matrix, where the identity matrix represents a diagonal matrix with dimensions matching the transfer function of the control path C , with the main diagonal elements being 1 and the remaining elements being 0.

[0012] Furthermore, the performance weighting function W 1 is a high-order low-pass weighting function, the control quantity weighting function W 2 is a constant quantity, and the complementary weighting function W 3 is a high-order high-pass weighting function.

[0013] Furthermore, the first prominent response peak frequency is the first preset frequency value, and the second prominent response peak frequency is the second preset frequency value; The ship broadband vibration control method further includes: Determining the first amplitude characteristic and the second amplitude characteristic through the following formula: ; wherein, ζ num and ζ den are respectively the preset first damping value and the second damping value, and the first damping value and the second damping value used for calculating the first amplitude characteristic and calculating the second amplitude characteristic are different.

[0014] Further, the steps of calculating the calculation parameters of the pre-constructed broadband disturbance feedback controller function by using the interference path frequency response characteristics and the control path frequency response characteristics include: constructing a band-pass filter by using a first damping value, a second damping value, and a preset frequency value; performing a bilinear transformation on the band-pass filter in discrete and continuous time to obtain an infinite impulse response filter function; filtering the first prominent response peak frequency and the second prominent response peak frequency by using the infinite impulse response filter function, and normalizing the discrete frequency to obtain the calculation parameters.

[0015] Further, the expression formula of the infinite impulse response filter includes: ; Wherein, represents the output bilinear transformation signal, represents the input bilinear transformation signal, α and represent the preset pole configuration, and represent the preset zero configuration, z -1 represents the previous delay period, z -2 represents the two previous delay periods.

[0016] Further, the ship broadband vibration control method further includes: if there are multiple first prominent response peak frequencies or multiple second prominent response peak frequencies, then use multiple cascaded infinite impulse response filters to process the multiple first prominent response peak frequencies or multiple second prominent response peak frequencies, wherein each infinite impulse response filter corresponds to a first prominent response peak frequency or a second prominent response peak frequency.

[0017] Further, the expression formula of the step of calculating the feedback voltage of the broadband disturbance feedback controller function by using the calculation parameters includes: ; Wherein, represents the feedback voltage of the broadband disturbance feedback controller function.

[0018] According to the second aspect of the present application, the present application further provides a vibration control system for ship broadband to control the vibration of a controlled system. The vibration control system for ship broadband includes: a vibration signal acquisition module, configured to acquire the vibration signal of the disturbance path of the controlled system under disturbance excitation, and acquire the vibration signal of the control path of the controlled system without disturbance excitation; a frequency response characteristic acquisition module, configured to utilize the vibration signal of the disturbance path and the vibration signal of the control path to acquire the frequency response characteristic of the disturbance path and the frequency response characteristic of the control path of the controlled system; a parameter calculation module, configured to determine calculation parameters by using the frequency response characteristic of the disturbance path and the frequency response characteristic of the control path, and the calculation parameters are used as input data of a pre-constructed broadband disturbance feedback controller function, and the broadband disturbance feedback controller function is configured to output a feedback voltage according to the calculation parameters; a broadband vibration adjustment module, configured to acquire the feedback voltage output by the broadband disturbance feedback controller function according to the calculation parameters, and use the feedback voltage to adjust the active driving force of the controlled system, so as to adjust the vibration of the broadband of the controlled system.

[0019] According to the third aspect of the present application, the present application further provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the vibration control of ship broadband in any one of the above.

[0020] According to another aspect of the present application, the present application further provides a ship, including the vibration control system for ship broadband in the above.

[0021] Through one embodiment or multiple embodiments of the above embodiments in the present application, at least the following technical effects can be achieved: In the technical solution disclosed in the present application, it is possible to use the vibration signal of the disturbance path and the vibration signal of the control path of the controlled system under disturbance excitation, and obtain the frequency response characteristic of the disturbance path and the frequency response characteristic of the control path through the two vibration signals, so as to use the frequency response characteristic as the input of the broadband disturbance feedback controller function, so that the broadband disturbance feedback controller function can output a feedback voltage, and use the feedback voltage to adjust the active driving force of the controlled system, thereby adjusting and controlling the vibration of the controlled system by adjusting the active driving force of the controlled system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following will, in conjunction with the accompanying drawings, make the technical solutions and other beneficial effects of the present application obvious through a detailed description of the specific embodiments of the present application.

[0023] Figure 1 It is a flowchart of the vibration control method for ship broadband provided by an embodiment of the present application; Figure 2 It is a schematic diagram of an augmented model of the vibration control method for ship broadband provided by an embodiment of the present application; Figure 3 Schematic diagram of the vibration control method for ship broadband provided by the embodiment of the present application under a three-channel system; Figure 4 Frequency response characteristic diagram of the sensitivity weight function of the single-channel controlled model of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 5 Design diagram of the multi-band zero-order filter of the single-channel controlled model of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 6 Design result diagram of the sensitivity function of the single-channel controlled system of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 7 Time history diagram of the vibration response of the controlled system before and after applying active control in a single channel of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 8 Power spectral density diagram of the vibration response of the controlled system before and after applying active control in a single channel of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 9 Time history diagram of the vibration response of the controlled system before and after applying active control to the stern bearing transfer path of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 10 Time history diagram of the vibration response of the controlled system before and after applying active control to the forward bearing transfer path of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 11 Time history diagram of the vibration response of the controlled system before and after applying active control to the thrust bearing transfer path of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 12 Power spectral density diagram of the vibration response of the controlled system before and after applying active control to the stern bearing transfer path of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 13 Power spectral density diagram of the vibration response of the controlled system before and after applying active control to the forward bearing transfer path of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 14 Power spectral density diagram of the vibration response of the controlled system before and after applying active control to the thrust bearing transfer path of the vibration control method for ship broadband provided by the embodiment of the present application; Figure 15 Frame diagram of the vibration control system for ship broadband provided by the embodiment of the present application; Figure 16 Structural schematic block diagram of the electronic device provided by the embodiment of the present application. Detailed implementation manners

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0025] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the term "and / or" herein is only an association relationship describing associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after without special explanation.

[0026] When a ship is sailing, it is subjected to unbalanced pulsating excitation from the stern propeller, resulting in hull vibration and radiated noise. This will not only affect the comfort of personnel, but also lead to serious consequences such as hull structure damage. Due to the existence of the unsteady wake flow field at the stern of the ship, the broadband random force spectrum has become an important feature of the pulsating excitation of the ship propeller. Especially for new types of propellers such as pump jets, the broadband excitation characteristics generated by the coupling between the stator and the rotor cannot be ignored. Different from the line spectrum characteristics of periodic excitation, the broadband excitation force of the propeller has random characteristics in the time domain and shows low-frequency continuous broadband spectrum characteristics in the frequency domain.

[0027] Vibration active control technology is one of the effective measures to solve the low-frequency vibration problem at present. Based on the principle of wave superposition, vibration active control technology suppresses vibration by actively outputting energy and can intelligently adjust control parameters according to vibration characteristics. At present, vibration active control methods mainly focus on suppressing the structural line spectrum vibration characteristics under periodic excitation and cannot effectively control the broadband spectrum vibration characteristics under random excitation. For a ship propulsion system, the excitation transmission of the propeller is closely related to the dynamic characteristics of the shafting. Only using the line spectrum control method cannot further improve the vibration control performance of the active control system. Therefore, it is necessary to propose a broadband spectrum vibration active control method for random disturbances.

[0028] To solve the above problems, the embodiments of the present application provide a vibration control method, system, device and medium for ship broadband.

[0029] This embodiment provides a vibration control method for ship broadband, which is used to control the vibration of the controlled system on the ship, such as Figure 1 As shown, the vibration control method for ship broadband includes: S101. Obtain the vibration signal of the interference path when the controlled system is under interference excitation, and obtain the vibration signal of the control path when the controlled system is not under interference excitation; S102. Obtain the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path of the controlled system by using the vibration signal of the disturbance path and the vibration signal of the control path; S103. Determine calculation parameters by using the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path. The broadband disturbance feedback controller function is used to output a feedback voltage according to the calculation parameters; S104. Obtain the feedback voltage output by the broadband disturbance feedback controller function according to the calculation parameters, and use the feedback voltage to adjust the active driving force of the controlled system so as to adjust the broadband vibration of the controlled system.

[0030] In step S101, the disturbance excitation is generally an external disturbance excitation. When the controlled system is subjected to the disturbance excitation, the vibration error response signal of the controlled system can be measured by using the error sensor unit to obtain the vibration signal of the disturbance path. When the disturbance excitation is turned off, the actuator unit of the ship applies a broadband random disturbance signal, and at this time, the error sensor unit measures the vibration signal of the control path of the controlled system.

[0031] Therefore, in some embodiments, the steps of obtaining the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path of the controlled system by using the vibration signal of the disturbance path and the vibration signal of the control path include: Under the disturbance excitation, use the vibration signal of the disturbance path to obtain the first prominent response peak frequency and the first amplitude characteristic of the vibration of each transmission path, where the transmission paths include: the after stern bearing transmission path, the before stern bearing transmission path, and the thrust bearing transmission path; When not subjected to the disturbance excitation, that is, under the active actuation of the ship, use the vibration signal of the control channel to obtain the second prominent response peak frequency and the second amplitude characteristic of the vibration of each control path, where the control path includes the signal control path from the broadband disturbance feedback controller function to the controlled system.

[0032] In step S102, the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path represent the prominent response peak frequency and amplitude characteristics obtained after the vibration responses of each transmission path are subjected to spectrum analysis under the broadband random disturbance excitation; under the broadband random excitation of the actuator, the prominent response peak frequency and amplitude characteristics obtained after the vibration responses of each control path are subjected to spectrum analysis.

[0033] In step S103, the calculation parameters can be used as the input data of the pre-constructed broadband disturbance feedback controller function, so that the broadband disturbance feedback controller function can output a feedback voltage according to the calculation parameters. The broadband disturbance feedback controller function is obtained by the DGKF (Doyle-Glover-Kargonekar-Francis) algorithm.

[0034] Therefore, the vibration control method for ship broadband provided by this embodiment can use the vibration signals of the disturbance path and the control path when the controlled system is subjected to disturbance excitation, and obtain the frequency response characteristics of the disturbance path and the control path through the two vibration signals, so as to use the frequency response characteristics as the input of the broadband disturbance feedback controller function, enabling the broadband disturbance feedback controller function to output a feedback voltage, and using the feedback voltage to adjust the active driving force of the controlled system, thereby adjusting and controlling the vibration of the controlled system by adjusting the active driving force of the controlled system.

[0035] In some embodiments, the vibration control method for ship broadband further includes: Adjusting the vibration of the broadband by using a pre-constructed augmented model to assist in vibration adjustment for adjusting the active driving force of the controlled system using the feedback voltage, where the expression of the augmented model is as follows: ; where G is the augmented model, C is the transfer function of the control path, W 1 is the performance weighting function, W 2 is the control quantity weighting function, W 3 is the complementary weighting function, I is the preset identity matrix.

[0036] Please refer to Figure 2 , the augmented model constitutes an augmented system. In Figure 2 , P(s) represents the system disturbance path transfer function, C(s) is the control path transfer function, ∑ is the controlled system, K is the designed broadband feedback controller function, w = [r d] is the system external input signal, that is, r(t), d(t) are the system external input signals, u(t) is the system control input, e(t) is the measured output of the controlled system, z = [z1 z2 z3] is the external output signal of the controlled system, and W = [W1 W2 W3] is the sensitivity weighting function.

[0037] In this embodiment, the sensitivity weighting function refers to: the output sensitivity weighting function represents the spectral characteristics of external disturbances. Considering that the actual system has a low-pass characteristic, it should have the characteristics of high gain at low frequencies to enhance the broadband disturbance suppression ability; the input sensitivity weighting function, to ensure the requirements for the controller output amplitude limit in engineering applications, prevent actuator saturation, and at the same time to reduce the order of the controller, should be set as a constant as much as possible; the complementary sensitivity weighting function needs to cover the unmodeled dynamic characteristics of the controlled system, and should have a large gain in the high-frequency band to avoid the influence of unmodeled dynamic characteristics.

[0038] In the augmented model, there is also a vibration transfer function. The augmented model is used to output a vibration adjustment signal, and the vibration transfer function is used to transmit the vibration adjustment signal to the controlled system. The expression of the vibration transfer function includes: ; Wherein, M(s) is the vibration transfer function, S is the output sensitivity function, T is the complementary sensitivity function, R is the input sensitivity function.

[0039] In some embodiments, the vibration control method for ship broadband further includes: Pre-construct the output sensitivity function S , the complementary sensitivity function T and the input sensitivity function R ; The steps of constructing the output sensitivity function S include: obtaining the transfer function of the control path C , the bandwidth feedback controller function K and the preset identity matrix I ; using the transfer function of the control path C , the bandwidth feedback controller function K and the identity matrix I to construct the output sensitivity function S ; The steps of constructing the complementary sensitivity function T include: using the identity matrix I and the output sensitivity function S to construct the complementary sensitivity function T ; The steps of constructing the input sensitivity function R include: using the bandwidth feedback controller function K and the output sensitivity function S to construct the input sensitivity function R .

[0040] In this embodiment, the expression of the output sensitivity function S includes: ; The expression of the complementary sensitivity function T includes: ; The expression of the input sensitivity function R includes: ; Wherein, C is the transfer function of the control path,K is the bandwidth feedback controller function, I is the identity matrix, where the identity matrix represents a diagonal matrix whose dimensions match the transfer function of the control path, C with the main diagonal elements being 1 and the remaining elements being 0.

[0041] For the mixed-sensitivity problem, a regular rational function controller \(K = R_0 / S_0\) is designed such that Figure 1 the control system in ; where \(\sigma(M(j\omega))\) is the singular value of the transfer function \(M\) in the target frequency domain, reflecting the maximum energy amplification factor at frequency ω and achieves the goal through the bandwidth feedback controller function K ∥M(s)∥ ∞ represents the \(H\) ∞ norm of \(M(s)\), that is, it represents the worst-case gain of the system at all frequencies. represents taking the maximum value over all frequencies \(\omega\).

[0042] In some embodiments, the performance weighting function W 1 is a high-order low-pass weighting function, the control quantity weighting function W 2 is a constant quantity, and the complementary weighting function W 3 is a high-order high-pass weighting function.

[0043] In the above formula, the weighting function \(W_1\) of the system performance represents the spectral characteristics of external disturbances. Considering that the propulsion shafting system has a low-pass characteristic, it is made to have the characteristics of high gain at low frequencies, enhancing the ability to suppress broadband disturbances. To improve the control performance of the system in the low-frequency band, \(W_1\) is adopted as a low-pass weighting function, which is: ; where \(M\) u is the passband gain, \(\epsilon\) u is the stopband gain, \(\omega\) c is the crossover frequency, \(k\) is the order, \(s\) is the complex frequency variable, and its calculation formula is s = σ + jω , σ is the real part, representing the attenuation or growth characteristic of the system, jω is the imaginary part, characterizing the frequency ( ω is the angular frequency, unit rad / s).

[0044] And W2 is the input control quantity limit weight function. Since the order of the controller is related to both the system model and the weighting function, in order to reduce the order of the controller and at the same time achieve the purpose of limiting the output of the controller, a constant quantity is set.

[0045] The uncertainty weight function W3 needs to cover the unmodeled dynamics of the controlled system. Therefore, the gain should be large in the high-frequency band, and a high-pass weighting function is adopted, which is: ; where M p is the passband gain, ε p is the stopband gain, ω c is the crossover frequency, k is the order, and s is the complex frequency variable.

[0046] In order not to affect the controller response at other frequencies, a zero-pole filter is used to accurately construct the sensitivity function, and there is ; where ω0 is the center frequency of the filter, ζ num and ζ den are the preset damping values of the numerator term and the denominator term respectively. Among them, the first damping value and the second damping value used to calculate the first amplitude characteristic and the second amplitude characteristic are different.

[0047] For the zero-pole filter, at the design frequency, the response amplitude is ; For M, its positive value indicates attenuation, and its negative value indicates amplification.

[0048] In some embodiments, the steps of calculating the calculation parameters of the pre-constructed broadband disturbance feedback controller function by using the disturbance path frequency response characteristic and the control path frequency response characteristic include: Construct a band-pass filter by using the first damping value, the second damping value, and the preset frequency value; Perform a bilinear transformation on the band-pass filter in discrete and continuous time to obtain an infinite impulse response filter function; Use the infinite impulse response filter function to filter the first prominent response peak frequency and the second prominent response peak frequency, and normalize the discrete frequency to obtain the calculation parameters.

[0049] Among them, the design index of each band-pass filter is the center frequency, the desired attenuation, and the influence bandwidth, and the design parameters are ω0, ζ num and ζ den . Except for the frequencies defined by the band-pass filter, the influence on other frequencies can be ignored. By bilinearly transforming the continuous-time filter, an IIR-form filter is obtained, which is: ; Among them, represents the output bilinear transformation signal, represents the input bilinear transformation signal, α , represents the preset pole configuration, , represents the preset zero configuration, z -1 represents the previous delay period, z -2 represents the two previous delay periods.

[0050] The normalized discrete frequency is: ; where T s is the discrete frequency.

[0051] In some embodiments, the vibration control method for ship broadband further includes: if there are multiple first prominent response peak frequencies or multiple second prominent response peak frequencies, then use multiple cascaded infinite impulse response filters to process the multiple first prominent response peak frequencies or multiple second prominent response peak frequencies, where each infinite impulse response filter corresponds to a first prominent response peak frequency or a second prominent response peak frequency.

[0052] In this embodiment, for multiple peak frequencies of the controlled system response, multiple cascaded zero-pole filters can be used. By designing the center frequency, control bandwidth, and attenuation amplitude of each filter, the purpose of generating different control effects for different interference peaks can be achieved. Generally, n cascaded zero-pole filters are ; Based on the feedback controller designed by mixed sensitivity, combined with the designed zero-pole filter, a cascaded feedback controller with enhanced multi-subband vibration suppression can be obtained, which is ; where represents the feedback voltage of the feedback controller function for broadband disturbance.

[0053] Please refer to Figure 3, which is the schematic diagram of the vibration control method for ship broadband, and analyzes it by taking the three-channel vibration transfer model of the ship propulsion shafting as an example. Among them, P(s) is the main path transfer function model, G(s) is the secondary path transfer function model, p(t) is the system input disturbance, e(t) is the system measurement output, u(t) is the system control input, and y(t) is the system control output. Assume that the external disturbance with broadband spectral characteristics received by the system is d, and the main path model of the system is P = [P1(s) P2(s) P3(s)], then the colored broadband excitation input to each channel of the system is [p1 p2 p3] = [P1(s) P2(s) P3(s)]d. Here, assume that the feedback controller of the system is [K1(s) K2(s) K3(s)].

[0054] Design the performance weighting function W1, the control quantity weighting function W2, and the complementary weighting function W3: ; Solve the rational function polynomial controller K that satisfies the H∞ norm condition: ; For the design of the cascade filter, first, according to the vibration transfer response characteristics of each channel, reasonably select the design center frequency of the band-pass filter to reduce the controller order and improve the control design performance. Second, the origin control ability of each channel at the natural frequency should also be considered. It should be noted that here, not only the response characteristics of the system itself should be considered, but also the coupling response characteristics of other channels should be examined. Design the zero-pole filter: ; It can be obtained: ; According to the above design, please refer to Figure 4 , Figure 4 , which shows the frequency response characteristic diagram of the sensitivity weighting function of the single-channel controlled model. It can be seen from the figure that the low-pass characteristic of the performance weighting function covers the low-frequency band of the control path, and the complementary sensitivity weighting function weights the high-frequency band of the control path.

[0055] Figure 5 Then, it shows the multi-band zero-pole filter design diagram of the single-channel controlled model. Here, the first-order, second-order, and third-order lateral natural frequencies of the controlled system are used as the filter center frequencies for design to achieve the enhanced control effect on the third-order resonance peak of the system. The figure shows the frequency response characteristics of each band-pass filter, and it can be seen that its maximum peak value is 20 dB and the design bandwidth is about 4 Hz.

[0056] Figure 6It is a diagram showing the design result of the sensitivity function of a single-channel controlled system. It can be seen from the diagram that after the cascade filter, the output sensitivity function generates anti-resonance bandwidths at ω = 176, 402, and 711 rad / s respectively, and the response characteristics at other frequencies are the same as those without cascade filtering. This indicates that the design of zero-pole filtering can achieve specific attenuation targets at the designed frequencies, enhance the vibration suppression effect of the controller at specific frequencies, and have no impact on other frequencies.

[0057] Figure 7 It is a diagram showing the vibration response time history of the controlled system before and after applying active control to a single channel. Among them, the active control is turned on when t = 10 s for the system. It can be seen from the diagram that under the feedback control of the controller, the random vibration characteristics of the controlled system have been greatly attenuated. By calculating the root mean square value of the response of the controlled system and comparing the results before and after the active control is turned on, it is found that the robust feedback controller enhanced by the zero-pole filter has achieved a broadband random disturbance control effect of 18 dB. This indicates that the active control method proposed in this application can effectively attenuate the broadband vibration characteristics of ship broadband random disturbances.

[0058] Figure 8 It gives the power spectral density diagram of the vibration response of the controlled system before and after applying active control to a single channel. From the results, it can be seen that the proposed active control method based on cascade filter enhancement can not only effectively suppress the broadband vibration in the low-frequency band, but also have a good suppression effect on the peak of the system's natural response. According to the designed zero-pole filter, the peaks of the first three-order responses of the system have been attenuated to a large extent.

[0059] Figures 9 - 11 It is a diagram showing the vibration response time history of the controlled system before and after applying active control to multiple channels: Among them, Figure 9 is the transfer path of the aft bearing, Figure 10 is the transfer path of the forward aft bearing, Figure 11 is the transfer path of the thrust bearing. The results show that the vibration responses of each transfer path have been effectively suppressed. By comparing the root mean square values of the system responses before and after control for the design schemes with and without zero-pole filter cascading, the control effect of the aft bearing has been improved from the original 1.1 dB to 4 dB, and the vibration attenuation has increased from about 10% to about 40%; the control effect of the forward aft bearing has also been enhanced from 1.6 dB to 4 dB; the vibration attenuation of the thrust bearing has increased from 1.3 dB to 3.2 dB. This enhanced control effect on the system's broadband vibration response is the key situation to be solved in this application.

[0060] Figures 12 - 14 It is the power spectral density diagram of the vibration response of the controlled system before and after applying active control to multiple channels in this application: Figure 12 is the diagram of the transfer path of the aft bearing, Figure 13 is the transfer path of the forward aft bearing,Figure 14 It is the transmission path of the thrust bearing. As can be seen from the figure, for the vibration transmission of each channel of the system's after stern bearing, before stern bearing, and thrust bearing, there is not only an inhibitory effect of 1-2 dB in the low-frequency broadband range, but also significant vibration attenuation is achieved at the first four resonance peaks of the system, with an inhibitory effect of 5-13 dB.

[0061] Therefore, the vibration control method for the ship broadband provided by the embodiment of the present application designs a broadband robust controller that meets multi-index requirements through the mixed sensitivity method, and at the same time cascades a multi-peak zero-pole filter for the system natural frequency to effectively suppress the vibration of the controlled system under random broadband disturbances, and is applied to the control of ship vibration and noise.

[0062] Based on the mixed sensitivity, an augmented model of the controlled system is constructed, and a suitable sensitivity weighting function is selected to convert the robustness requirements and performance requirements of the feedback control system into the condition that the closed-loop system meets the desired H∞ norm. The robust feedback controller is obtained by solving through the DGKF algorithm. At the same time, combined with the frequency response characteristics of the disturbance path and control path of the controlled system, a band-pass filter for the response peak frequency is designed. Through cascade design with the robust feedback controller, the effective suppression of vibration transmission in each path in the broadband under broadband random excitation of the controlled system is realized, and at the same time, significant attenuation of each response peak is achieved.

[0063] In summary, the vibration control method for the ship broadband provided by the embodiment of the present application can obtain a broadband disturbance attenuation feedback robust controller through the closed-loop shaping design of the controlled system by constructing the system mixed sensitivity weighting function, which can solve the problem that the narrowband algorithm is ineffective for the active control of broadband random vibration, and has an improvement effect on the application level of active control in the aspect of low-frequency broadband spectrum vibration suppression; for the characteristic response frequency of the controlled system, a zero-pole filter is designed, and the filter amplitude and bandwidth can be independently selected. Only by being connected in parallel with the feedback robust controller can the accurate regulation of the sensitivity function characteristics of the controlled system be realized. At the same time, the zero-pole filter can be independently designed for multiple characteristic frequencies without affecting the control performance at other frequencies, and the broadband vibration control effect of multi-band enhancement can be realized, effectively improving the vibration control effect and having good control robustness.

[0064] Please refer to Figure 15 , the embodiment of the present application also provides a vibration control system for ship broadband, which is used to control the vibration of the controlled system. The vibration control system for ship broadband includes: a vibration signal acquisition module 1, a frequency response characteristic acquisition module 2, a parameter calculation module 3, and a broadband vibration adjustment module 4.

[0065] The vibration signal acquisition module 1 is used to acquire the vibration signal of the disturbance path when the controlled system is subjected to disturbance excitation, and acquire the vibration signal of the control path when the controlled system is not subjected to disturbance excitation; The frequency response characteristic acquisition module 2 is configured to acquire the disturbance path frequency response characteristic and the control path frequency response characteristic of the controlled system by using the disturbance path vibration signal and the control path vibration signal; The parameter calculation module 3 is configured to determine calculation parameters by using the disturbance path frequency response characteristic and the control path frequency response characteristic. The calculation parameters are used as input data for a pre-constructed broadband disturbance feedback controller function, and the broadband disturbance feedback controller function is configured to output a feedback voltage according to the calculation parameters; The broadband vibration adjustment module 4 is configured to acquire the feedback voltage output by the broadband disturbance feedback controller function according to the calculation parameters, and use the feedback voltage to adjust the active driving force of the controlled system, so as to adjust the broadband vibration of the controlled system.

[0066] In some embodiments, the frequency response characteristic acquisition module 2 includes a first data acquisition unit and a second data acquisition unit. The first data acquisition unit is configured to, under disturbance excitation, acquire the first prominent response peak frequency and the first amplitude characteristic of the vibration of each transfer path by using the disturbance path vibration signal. The transfer paths include: the after stern bearing transfer path, the forward stern bearing transfer path, and the thrust bearing transfer path. The second data acquisition unit is configured to, under active actuation, acquire the second prominent response peak frequency and the second amplitude characteristic of the vibration of each control path by using the control channel vibration signal. The control paths include the signal control paths from the broadband disturbance feedback controller function to the controlled system.

[0067] In some embodiments, the ship broadband vibration control system further includes an augmented model module, which is configured to adjust the broadband vibration by using a pre-constructed augmented model, so as to perform auxiliary vibration adjustment on adjusting the active driving force of the controlled system by using the feedback voltage. The expression of the augmented model is as follows: ; where G is the augmented model, C is the transfer function of the control path, W 1 is the performance weighting function, W 2 is the control quantity weighting function, W 3 is the complementary weighting function, I is the preset identity matrix.

[0068] where the augmented model has a vibration transfer function. The augmented model is configured to output a vibration adjustment signal, and the vibration transfer function is configured to transmit the vibration adjustment signal to the controlled system. The expression of the vibration transfer function includes: ; where, M(s) is the vibration transfer function, S is the output sensitivity function, T is the complementary sensitivity function, Ris the input sensitivity function.

[0069] In some embodiments, the vibration control system for ship broadband further includes a function pre-construction module for pre-constructing the output sensitivity function S , complementary sensitivity function T and input sensitivity function R ; The steps of constructing the output sensitivity function S include: obtaining the transfer function of the control path C , bandwidth feedback controller function K and a preset identity matrix I ; using the transfer function of the control path C , bandwidth feedback controller function K and the identity matrix I to construct the output sensitivity function S ; The steps of constructing the complementary sensitivity function T include: using the identity matrix I and the output sensitivity function S to construct the complementary sensitivity function T ; The steps of constructing the input sensitivity function R include: using the bandwidth feedback controller function K and the output sensitivity function S to construct the input sensitivity function R .

[0070] In some embodiments, the expression of the output sensitivity function S includes: ; The expression of the complementary sensitivity function T includes: ; The expression of the input sensitivity function R includes: ; where C is the transfer function of the control path, K is the bandwidth feedback controller function, I is the identity matrix, where the identity matrix represents a diagonal matrix whose dimension matches the transfer function of the control path C , with the main diagonal elements being 1 and the remaining elements being 0.

[0071] In some embodiments, the performance weighting function W 1 is a high-order low-pass weighting function, and the control quantity weighting function W2 is a constant quantity, and the complementary weighting function W 3 is a high-order high-pass weighting function.

[0072] In some embodiments, the first prominent response peak frequency is the first preset frequency value, and the second prominent response peak frequency is the second preset frequency value.

[0073] The vibration control system for ship broadband further includes an amplitude feature determination module, which is used to determine the first amplitude feature and the second amplitude feature through the following formula: ; where ζ num and ζ den are respectively the preset first damping value and the second damping value, and the first damping value and the second damping value used for calculating the first amplitude feature and calculating the second amplitude feature are different.

[0074] In some embodiments, the parameter calculation module 3 includes: A band-pass filter construction unit, which is used to construct a band-pass filter by using the first damping value, the second damping value, and the preset frequency value; A bilinear transformation unit, which is used to perform a bilinear transformation on the band-pass filter in discrete and continuous time to obtain an infinite impulse response filter function; A filtering unit, which is used to filter the first prominent response peak frequency and the second prominent response peak frequency by using the infinite impulse response filter function and normalize the discrete frequency to obtain calculation parameters.

[0075] where the expression formula of the infinite impulse response filter includes: ; where represents the output bilinear transformation signal, represents the input bilinear transformation signal, α , represents the preset pole configuration, , represents the preset zero configuration, z -1 represents the previous delay period, z -2 represents the first two delay periods.

[0076] In some embodiments, the vibration control system for ship broadband further includes a cascade module, which is used to, in the case of having multiple first prominent response peak frequencies or multiple second prominent response peak frequencies, use multiple cascaded infinite impulse response filters to process the multiple first prominent response peak frequencies or multiple second prominent response peak frequencies, where each infinite impulse response filter corresponds to a first prominent response peak frequency or a second prominent response peak frequency.

[0077] Among them, the expression formula of the step of calculating the feedback voltage of the broadband perturbation feedback controller function using calculation parameters includes: ; Among them, represents the feedback voltage of the broadband perturbation feedback controller function.

[0078] An embodiment of the present application provides an electronic device. Please refer to Figure 16 , the electronic device includes: a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602. When the processor 602 executes the computer program, the vibration control method of the ship broadband described above is implemented.

[0079] Furthermore, the electronic device further includes: at least one input device 603 and at least one output device 604.

[0080] The above-mentioned memory 601, processor 602, input device 603, and output device 604 are connected through a bus 605.

[0081] Among them, the input device 603 can specifically be a camera, a touch panel, a physical button, or a mouse, etc. The output device 604 can specifically be a display screen.

[0082] The memory 601 can be a high-speed random access memory (RAM, Rom Access Memory) or a non-volatile memory, such as a disk memory. The memory 601 is used to store a set of executable program codes, and the processor 602 is coupled to the memory 601.

[0083] An embodiment of the present application also provides a ship, including the vibration control system of the ship broadband described in the above embodiment.

[0084] It should be noted that for the foregoing method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0085] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0086] In summary, although the present application has been disclosed above in preferred embodiments, the above preferred embodiments are not intended to limit the present application. Those of ordinary skill in the art can make various modifications and refinements without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application shall be subject to the scope defined by the claims.

Claims

1. A vibration control method for ship broadband, characterized in that, For controlling the vibration of a controlled system on a ship, the method includes: Obtaining the vibration signal of the disturbance path of the controlled system under disturbance excitation, and obtaining the vibration signal of the control path of the controlled system without the disturbance excitation; Using the vibration signal of the disturbance path and the vibration signal of the control path to obtain the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path of the controlled system; Determining calculation parameters using the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path, where the calculation parameters are used as input data for a pre-constructed broadband disturbance feedback controller function, and the broadband disturbance feedback controller function is used to output a feedback voltage according to the calculation parameters; Obtaining the feedback voltage output by the broadband disturbance feedback controller function according to the calculation parameters, and using the feedback voltage to adjust the active driving force of the controlled system to adjust the broadband vibration of the controlled system.

2. The method for controlling the broadband vibration of a ship according to claim 1, wherein: The step of using the vibration signal of the disturbance path and the vibration signal of the control path to obtain the frequency response characteristics of the disturbance path and the frequency response characteristics of the control path of the controlled system includes: Under the disturbance excitation, using the vibration signal of the disturbance path to obtain the first prominent response peak frequency and the first amplitude characteristic of the vibration of each transmission path, where the transmission paths include: the after stern bearing transmission path, the forward stern bearing transmission path, and the thrust bearing transmission path; Without the disturbance excitation, using the vibration signal of the control channel to obtain the second prominent response peak frequency and the second amplitude characteristic of the vibration of each control path, where the control path includes the signal control path from the broadband disturbance feedback controller function to the controlled system.

3. The method for controlling the broadband vibration of a ship according to claim 1, wherein: The method for controlling the broadband vibration of the ship further includes: Using a pre-constructed augmented model to adjust the broadband vibration to assist in vibration adjustment for adjusting the active driving force of the controlled system using the feedback voltage, where the expression of the augmented model is as follows: ； Among them, G is the augmented model, C is the transfer function of the control path, W 1 is the performance weighting function, W 2 is the control quantity weighting function, W 3 is the complementary weighting function, I is the preset identity matrix.

4. The method for controlling the broadband vibration of a ship according to claim 3, wherein: The augmented model has a vibration transfer function, the augmented model is used to output a vibration adjustment signal, the vibration transfer function is used to transmit the vibration adjustment signal to the controlled system, and the expression of the vibration transfer function includes: ； Among them, M(s) is the vibration transfer function, S is the output sensitivity function, T is the complementary sensitivity function, R is the input sensitivity function.

5. The vibration control method for ship broadband according to claim 4, wherein, The method further includes: Pre-construct the output sensitivity function S , complementary sensitivity function T and input sensitivity function R ; Steps for constructing the output sensitivity function S include: obtaining the transfer function of the control path C , the bandwidth feedback controller function K and a preset identity matrix I ; constructing the output sensitivity function C by using the transfer function of the control path K , the bandwidth feedback controller function I and the identity matrix S ; Constructing the complementary sensitivity function T The steps include: using the identity matrix I and the output sensitivity function S to construct the complementary sensitivity function T ; Constructing the input sensitivity function R The steps include: using the bandwidth feedback controller function K and the output sensitivity function S to construct the input sensitivity function R .

6. The method for controlling the broadband vibration of a ship according to claim 5, wherein: The output sensitivity function S has an expression that includes: ； The complementary sensitivity function T has an expression that includes: ； The input sensitivity function R has an expression that includes: ； Among them, C is the control path transfer function, K is the bandwidth feedback controller function, I is the identity matrix, where the identity matrix represents a diagonal matrix with dimensions matching the transfer function of the control path C The main diagonal elements are 1 and the remaining elements are 0.

7. The method for controlling the broadband vibration of a ship according to claim 3, wherein: The performance weighting function W 1 is a high-order low-pass weighting function, and the control quantity weighting function W 2 is a constant quantity, and the complementary weighting function W 3 is a high-order high-pass weighting function.

8. The method for controlling the broadband vibration of a ship according to claim 2, wherein: The first prominent response peak frequency is a first preset frequency value, and the second prominent response peak frequency is a second preset frequency value; The method for controlling the broadband vibration of the ship further includes: Determining the first amplitude characteristic and the second amplitude characteristic through the following formula: ； Among them, ζ num and ζ den are respectively a preset first damping value and a second damping value, and the first damping value and the second damping value used for calculating the first amplitude feature and calculating the second amplitude feature are different.

9. The method for controlling the broadband vibration of a ship according to claim 8, wherein: The steps of calculating the calculation parameters of a pre-constructed broadband disturbance feedback controller function by using the frequency response characteristics of the interference path and the frequency response characteristics of the control path include: Construct a band-pass filter by using the first damping value, the second damping value, and the preset frequency value; Perform a bilinear transformation on the band-pass filter in discrete and continuous time to obtain an infinite impulse response filter function; Filter the first prominent response peak frequency and the second prominent response peak frequency by using the infinite impulse response filter function, and normalize the discrete frequency to obtain the calculation parameters.

10. The method for controlling the vibration of a ship broadband according to claim 9, characterized in that The expression formula of the infinite impulse response filter includes: ； Among them, represents the output bilinear transformation signal, represents the input bilinear transformation signal, α , represents the preset pole configuration, , represents the preset zero configuration, z -1 represents the previous delay period, z -2 represents the two previous delay periods.

11. The method for controlling the vibration of a ship broadband according to claim 10, characterized in that The method for controlling the vibration of the ship broadband further includes: If there are multiple first prominent response peak frequencies or multiple second prominent response peak frequencies, then use multiple cascaded infinite impulse response filters to process the multiple first prominent response peak frequencies or multiple second prominent response peak frequencies, wherein each infinite impulse response filter corresponds to a first prominent response peak frequency or a second prominent response peak frequency.

12. The method for controlling the vibration of a ship broadband according to claim 11, characterized in that The expression formula of the step of calculating the feedback voltage of the broadband disturbance feedback controller function by using the calculation parameters includes: ； Among them, represents the feedback voltage of the broadband disturbance feedback controller function.

13. A vibration control system for ship broadband, characterized in that, For controlling the vibration of a controlled system, a vibration control system for a ship broadband includes: A vibration signal acquisition module, configured to acquire the interference path vibration signal of the controlled system under interference excitation, and acquire the control path vibration signal of the controlled system without the interference excitation; A frequency response characteristic acquisition module, configured to acquire the interference path frequency response characteristic and the control path frequency response characteristic of the controlled system by using the interference path vibration signal and the control path vibration signal; A parameter calculation module, configured to determine calculation parameters by using the interference path frequency response characteristic and the control path frequency response characteristic, where the calculation parameters are used as input data of a pre-constructed broadband disturbance feedback controller function, and the broadband disturbance feedback controller function is configured to output a feedback voltage according to the calculation parameters; A broadband vibration adjustment module, configured to acquire the feedback voltage output by the broadband disturbance feedback controller function according to the calculation parameters, and use the feedback voltage to adjust the active driving force of the controlled system to adjust the vibration of the broadband of the controlled system.

14. An electronic device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that when the processor executes the computer program, the method according to any one of claims 1 to 12 is implemented.

15. A ship, characterized in that, Including the vibration control system for a ship broadband according to claim 13.

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