Methods, systems and computer-readable media for self-calibration fault-tolerant control of pressure plates

Abstract

This application provides a ballast plate self-calibration fault-tolerant control method, system, and computer-readable medium, relating to the field of ship roll reduction technology. The ballast plate self-calibration fault-tolerant control method includes the following steps: Step S1, acquiring the ship's attitude data and the state data of each actuator; Step S2, calculating the current desired control torque vector based on the attitude data, and calculating the current equivalent control performance matrix based on the state data; Step S3, calculating the current health status of each actuator based on the state data; Step S4, calculating the current control input data of each actuator based on the current desired control torque vector, the current equivalent control performance matrix, and the current health status, wherein the actuator is adapted to drive the corresponding ballast plate assembly according to the corresponding current control input data; Step S5, repeating steps S1 to S4 until the ship is in the desired pose.

Description

Technical Field

[0001] This application relates primarily to the field of ship roll reduction technology, and in particular to a self-calibrating fault-tolerant control method, system, and computer-readable medium for a ballast plate. Background Technology

[0002] With the development of ships towards higher speeds, lighter weights, and multihull structures, active roll reduction technology based on ballast plates or active hydrofoils has been widely applied to small and medium-sized and high-speed ships. Existing active roll reduction systems using ballast plates typically employ a multi-actuator parallel drive structure to achieve synchronous or differential control of multiple ballast plates, thereby actively suppressing rolling and pitching problems.

[0003] In existing technologies, most active anti-roll systems assume that all pressure plates and their drive actuators are in normal working condition at the design and control algorithm level. Under this premise, existing control systems can establish a unified geometric mapping relationship or inverse kinematic model based on nominal geometric parameters, thereby achieving relatively simplified control allocation and coordinated control.

[0004] However, in practical engineering applications, the above-mentioned preconditions are often difficult to meet in the long term. Specifically, during long-term operation, some pressure plates or actuators may become stuck, experience reduced efficiency, or fail completely, resulting in a state where some actuators are unavailable or control performance degrades. In response, existing control systems are prone to problems such as control distribution distortion, strong channel coupling, and even closed-loop instability, making it difficult to guarantee effective control of the ship's attitude under complex operating conditions.

[0005] Therefore, there is an urgent need for a ballast plate self-calibration fault-tolerant control method that can effectively control the hull attitude under complex working conditions. Summary of the Invention

[0006] The technical problem to be solved by this application is to provide a self-calibrating fault-tolerant control method, system and computer-readable medium for pressure plate, which can effectively control the attitude of the ship under complex working conditions.

[0007] To address the aforementioned technical problems, this application provides a self-calibrating fault-tolerant control method for a ballast plate, applicable to ships. The ship is configured with a ballast plate actuator, which includes a ballast plate assembly and actuators connected to the ballast plate assembly. The method includes the following steps: Step S1, acquiring the ship's attitude data and the state data of each actuator, wherein the state data includes the actuator state quantity, the actuator's fault health characterization quantity, and / or the actuator's constraint-related quantity; Step S2, calculating the current desired control torque vector based on the attitude data, and calculating the current... The equivalent control performance matrix includes the mapping relationship between the actuator commands and the generalized force or torque between the actuators; Step S3: Calculate the current health status of each actuator based on the various state data; Step S4: Calculate the current control input data of each actuator based on the current desired control torque vector, the current equivalent control performance matrix, and the current health status, wherein the actuator is adapted to drive the corresponding pressure plate assembly according to the corresponding current control input data; Step S5: Repeat steps S1 to S4 until the ship is in the desired pose.

[0008] Optionally, the attitude data includes the ship's actual attitude data and desired attitude data. The control torque calculation unit calculates the current desired control torque vector based on the actual attitude data and desired attitude data.

[0009] Optionally, the actual attitude data includes the actual roll angle. Actual pitch angle Actual yaw angle Actual roll rate Actual pitch angular velocity and actual yaw rate The desired attitude data includes the desired roll angle. Expected pitch angle Desired yaw angle Desired roll rate Desired pitch angular velocity and desired yaw rate The desired control torque vector includes the desired roll control torque. Pitch Desired Control Torque and yaw desired control torque The expression for calculating the current desired control torque vector is: In the formula This represents the current desired control torque vector. This is the angle control gain matrix. This is the angular velocity control gain matrix.

[0010] Optionally, the state data includes the historical expected control torque vector corresponding to at least one historical control cycle and the historical control input data of each actuator. The step of calculating the current equivalent control performance matrix based on the state data in step S2 further includes: calculating the current equivalent control performance matrix based on the historical control input data and the historical expected control torque vector.

[0011] Optionally, the step of calculating the current equivalent control performance matrix for the current control cycle based on historical control input data and historical expected control torque vector further includes calculating the equivalent control performance matrix by solving the following first objective function: In the formula For the current moment, For sliding time windows, For a moment The historical expected control torque vector corresponding to the current historical control period. For a moment The historical control input data corresponding to the current historical control cycle. The preset nominal performance matrix, The regularization coefficient is . This is the current equivalent control effectiveness matrix.

[0012] Optionally, the status data includes historical driving data and corresponding expected driving data. Step S3 further includes: for each actuator, calculating the current health of the actuator based on the corresponding historical driving data and expected driving data.

[0013] Optionally, historical driving data includes the actual water pressure velocity and actual water pressure displacement when the actuator drives the pressure plate assembly, as well as the actual water pressure attitude data of the actuator. Desired driving data includes the desired water pressure velocity, desired water pressure displacement, and desired water pressure attitude data for each actuator. Current health of each actuator The calculation expression is: ,in, In the formula For the first The combined value of residual information of each actuator Location residual coefficient, For the first The actual water pressure speed corresponding to each actuator For the first The expected water pressure velocity corresponding to each actuator For velocity residual coefficient, For the first The actual pressure displacement corresponding to each actuator For the first The expected pressure displacement corresponding to each actuator To control the performance residual coefficient, For the first The difference between the actual water pressure attitude data and the expected water pressure attitude data of the water pressure plate assembly corresponding to each actuator.

[0014] Optionally, step S4 further includes calculating the control matrix containing all current control input data by solving the following second objective function. : In the formula This represents the current desired control torque vector. This is the current equivalent control effectiveness matrix. This is a diagonal matrix containing the current health status of each executor. and These are the weight matrices for the corresponding terms.

[0015] Optionally, the constraints of the second objective function include: , In the formula For the minimum control matrix, For the maximum control matrix, and The first The control matrix corresponding to the first control cycle and the first control cycle The control matrix corresponding to each control cycle This is the upper limit of the maximum allowable change between adjacent control cycles.

[0016] Optionally, before step S4, the method further includes: determining whether the control degradation condition is met; if the determination result is yes, then generating a degradation selection matrix, wherein the control degradation condition includes the number of available actuators being less than the number of actuators threshold, and / or the control performance corresponding to at least some actuators being less than the control performance threshold. Step S4 further includes: calculating the current control input data of each actuator based on the degradation selection matrix, the current expected control torque vector, the current equivalent control performance matrix, and each current health level.

[0017] Optionally, the step of calculating the current control input data of each actuator based on the downgrade selection matrix, the current expected control torque vector, the current equivalent control performance matrix, and each current health level further includes: updating the current expected control torque vector based on the downgrade selection matrix; and calculating the current control input data of each actuator based on the updated current expected control torque vector, the current equivalent control performance matrix, and each current health level.

[0018] Optionally, the updated current desired control torque vector The calculation expression is: In the formula Choose a matrix for downgrading. This is the current desired control torque vector before the update.

[0019] To address the aforementioned technical problems, this application provides a ballast plate self-calibration fault-tolerant control system applicable to ships. The ship is configured with a ballast plate actuator, which includes a ballast plate assembly and actuators connected to the ballast plate assembly. The system includes: a data acquisition module configured to acquire the ship's attitude data and the state data of each actuator; a control torque and control performance calculation module, including a control torque calculation unit and a control performance calculation unit. The control torque calculation unit is configured to calculate the current desired control torque vector based on the attitude data, and the control performance calculation unit is configured to calculate the current equivalent control performance matrix based on the state data; a health calculation module configured to calculate the current health of each actuator based on the state data; and a control input data calculation module configured to calculate the current control input data of each actuator based on the current desired control torque vector, the current equivalent control performance matrix, and the current health values. The actuators are adapted to drive the corresponding ballast plate assembly based on the corresponding current control input data.

[0020] Optionally, the attitude data includes the ship's actual attitude data and desired attitude data, and the control torque calculation unit is further configured to calculate the current desired control torque vector based on the actual attitude data and desired attitude data.

[0021] Optionally, the status data includes the historical expected control torque vector corresponding to at least one historical control cycle and the historical control input data of each actuator. The control performance calculation unit is further configured to calculate the current equivalent control performance matrix based on the historical control input data and the historical expected control torque vector.

[0022] Optionally, the status data includes historical driving data and corresponding expected driving data. The health calculation module is further configured to calculate the current health of each actuator based on the corresponding historical driving data and expected driving data.

[0023] Optionally, it also includes: a degradation module, configured to determine whether the control degradation condition is met; if the determination result is yes, a degradation selection matrix is ​​generated; and a control input data calculation module is further configured to calculate the current control input data of each actuator based on the degradation selection matrix, the current expected control torque vector, the current equivalent control performance matrix, and each current health level.

[0024] Optionally, the control input data calculation module includes: an update unit configured to update the current desired control torque vector according to the downgrade selection matrix; and a calculation unit configured to calculate the current control input data of each actuator according to the updated current desired control torque vector, the current equivalent control performance matrix, and each current health level.

[0025] To address the aforementioned technical problems, this application provides a computer-readable medium storing computer program code, which, when executed by a processor, implements the aforementioned pressure plate self-calibration fault-tolerant control method.

[0026] Compared with existing technologies, this application has the following advantages: It calculates the current desired control torque vector, the current equivalent control performance matrix, and the current health status of each actuator based on the ship's attitude data and the actuator's state data. Based on this, it calculates the current control input data used by the actuator to drive the pressure plate assembly, using the current desired control torque vector, the current equivalent control performance matrix, and the current health status. The current health status calculated from the actuator's state data effectively assesses the actuator's current performance after long-term operation, ensuring that the corresponding current control input data reflects the actuator's true state. Because the current control input data considers the actuator's actual execution capability, the actuator can successfully complete the control commands corresponding to the current control input data, thereby achieving the expected ship attitude control effect. Attached Figure Description

[0027] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings:

[0028] Figure 1 This is a flowchart illustrating a pressure plate self-calibration fault-tolerant control method according to an embodiment of this application;

[0029] Figure 2 This is a partial schematic diagram of a ship according to an embodiment of this application;

[0030] Figure 3 yes Figure 1 A flowchart illustrating the sub-steps of step S2;

[0031] Figure 4 This is a flowchart illustrating a self-calibration fault-tolerant control method for a pressure plate according to another embodiment of this application.

[0032] Figure 5 yes Figure 4 A flowchart illustrating the sub-steps of step S4; and

[0033] Figure 6This is a block diagram of a pressure plate self-calibration fault-tolerant control system according to an embodiment of this application. Detailed Implementation

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0035] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0036] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0037] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0038] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0039] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0040] It should be understood that when a component is referred to as "on another component," "connected to another component," "coupled to another component," or "in contact with another component," it can be directly on, connected to, coupled to, or in contact with that other component, or there may be an intervening component. In contrast, when a component is referred to as "directly on another component," "directly connected to," "directly coupled to," or "directly in contact with" another component, there is no intervening component. Similarly, when a first component is referred to as "electrically contacting" or "electrically coupled to" a second component, there is an electrical path between the first and second components that allows current to flow. This electrical path may include capacitors, coupled inductors, and / or other components that allow current to flow, even if there is no direct contact between the conductive components.

[0041] Flowcharts are used in this application to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, various steps can be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more steps may be removed from these processes.

[0042] Reference Figure 1 and Figure 2 One embodiment of this application proposes a ballast plate self-calibration fault-tolerant control method 100 (hereinafter referred to as control method 100), which is applicable to a vessel 200. The vessel 200 is configured with a ballast plate actuator 21, which includes a ballast plate assembly 211 and an actuator 212 connected to the ballast plate assembly 211. In this embodiment, when the actuator 212 drives the ballast plate assembly 211 into and / or out of the water, it generates a hydrodynamic reaction force opposite to the direction of hydrodynamic force, thereby changing the attitude of the vessel 200. For example, when the vessel 200 is affected by wind and waves and tilts to the left along the direction of travel (i.e., rolls to the left), when the ballast plate actuator 21 generates a hydrodynamic reaction force to the right along the direction of travel, the vessel 200 will tilt to the right under the influence of this hydrodynamic reaction force, thus suppressing the left roll, thereby achieving attitude control and calibration of the vessel 200.

[0043] In this embodiment, at least one ballast plate actuator 21 is respectively provided on both sides of the bow and stern lines of the vessel 200, thereby providing corresponding hydrodynamic reaction forces from both sides when the vessel 200 rolls, thus improving the control and calibration effect of the vessel 200's attitude. It should be noted that this application does not limit the arrangement of the ballast plate actuator 21. In some embodiments, the vessel 200 has at least one ballast plate actuator 21 only on one side of the bow and stern lines; in some embodiments, the vessel 200 has at least one ballast plate actuator 21 in the bow area; and in some embodiments, the vessel 200 has at least one ballast plate actuator 21 in the stern area. Furthermore, in this embodiment, the actuator 212 includes an electric cylinder, and the actuator 212 drives the ballast plate assembly 211 through the electric cylinder. It should be noted that this application does not limit the driving method of the actuator 212. In some embodiments, the actuator 212 includes a hydraulic cylinder for driving the pressure plate assembly 211, in some embodiments the actuator 212 includes a linear drive component for driving the pressure plate assembly 211, and in some embodiments the actuator 212 includes a rotary drive component for driving the pressure plate assembly 211.

[0044] Continue to refer to Figure 1The control method 100 of this embodiment is adapted to bring the ship 200 into a desired pose using control input data corresponding to at least one control cycle. Specifically, the control method 100 includes the following steps: Step S1 is to acquire the ship's attitude data and the state data of each ballast plate assembly. Step S2 is to calculate the current desired control torque vector based on the attitude data and calculate the current equivalent control performance matrix based on the state data. The attitude data includes the ship's actual attitude data and desired attitude data. More specifically, the state data includes actuator state quantities, actuator fault health characterization quantities, and / or actuator constraint-related quantities; the equivalent control performance matrix includes the mapping relationship between actuator commands and generalized forces or torques between actuators. For example, actuator state variables include attitude / position, velocity, acceleration, angular velocity, angular acceleration, generalized coordinates and their derivatives, displacement, velocity, output force / torque (or equivalent force), current / voltage / speed, hydraulic pressure / flow, valve opening parameters, etc.; fault health characterization variables include availability flags, control effectiveness coefficients / efficiency decay coefficients, saturation / jamming / leakage indicators, remaining capacity margin, etc.; constraint-related variables include stroke limits, maximum force / maximum speed, amplitude limiting trigger information, etc. The current equivalent control effectiveness matrix is ​​used to characterize the mapping relationship between control input data (or actuator commands) and the generalized force / torque generated by the controlled object after considering factors such as actuator faults, saturation, or efficiency decay. The availability parameters / control effectiveness coefficients of each actuator are determined based on the state data, and corrected based on the nominal control effectiveness matrix characterizing the mapping relationship from control input to generalized force / torque, thereby obtaining the current equivalent control effectiveness matrix. The above description is illustrative and does not limit the specific algorithm or mathematical expression.

[0045] Continue to refer to Figure 3 Step S2 in this embodiment includes the following sub-steps. Step S21 is to calculate the current desired control torque vector based on the actual attitude data and the desired attitude data. In this embodiment, the actual attitude data includes the actual roll angle. Actual pitch angle Actual yaw angle Actual roll rate Actual pitch angular velocity and actual yaw rate And the desired attitude data includes the desired roll angle. Expected pitch angle Desired yaw angle Desired roll rate Desired pitch angular velocity and desired yaw rate In this embodiment, actual attitude data is acquired through an Inertial Measurement Unit (IMU). However, it should be noted that this application does not limit the method of acquiring actual attitude data. In some embodiments, actual attitude data is acquired through existing sensors; in other embodiments, basic data is acquired through sensors and processed to obtain actual attitude data. Furthermore, while the desired attitude data in this embodiment is a preset value, this application does not limit the method of acquiring the desired attitude data. In some embodiments, the corresponding desired attitude data is obtained based on the actual attitude data, thereby flexibly adjusting the adjustment target when the ship 200 is in different attitudes. In this embodiment, the desired control torque vector includes the desired roll control torque. Pitch Desired Control Torque and yaw desired control torque Accordingly, the expression for calculating the current desired control torque vector is:

[0046] ,

[0047] In the formula This represents the current desired control torque vector. This is the angle control gain matrix. This is the angular velocity control gain matrix.

[0048] Understandably, in the above calculation expressions, the roll difference, pitch difference, and yaw difference are calculated based on the actual attitude data and the desired attitude data, thus covering various attitude deviation scenarios of the ship 200, such as roll scenario, pitch scenario, yaw scenario, or mixed scenario. Based on this, this embodiment uses an angle control gain matrix... and angular velocity control gain matrix The difference data between angle and angular velocity is converted into torque data to obtain the current desired control torque vector that can correct the current attitude deviation of the vessel 200. In this embodiment, the attitude correction data of the entire vessel 200 is obtained through the current desired control torque vector, which makes it easier to assign corresponding control commands to each pressure plate actuator 21.

[0049] Continue to refer to Figure 3Step S22 involves calculating the current equivalent control performance matrix based on historical control input data and historical expected control torque vectors. In this embodiment, the state data includes at least one historical expected control torque vector corresponding to a historical control cycle and historical control input data for each actuator. It can be understood that the historical control cycle is the control cycle preceding the current control cycle, and the aforementioned current expected control torque vector is the expected control torque vector corresponding to the current control cycle; therefore, the historical expected control torque vector is the expected control torque vector corresponding to the historical control cycle. Correspondingly, the historical control input data is the control input data corresponding to the historical control cycle. In this embodiment, step S22 calculates the equivalent control performance matrix by solving the following first objective function:

[0050] ,

[0051] In the formula For the current moment, For sliding time windows, For a moment The historical expected control torque vector corresponding to the current historical control period. For a moment The historical control input data corresponding to the current historical control cycle. The preset nominal performance matrix, It is a regularization coefficient, used to suppress parameter divergence. This is the current equivalent control effectiveness matrix.

[0052] It should be noted that at least some existing active roll reduction systems also require the following prerequisites: (1) the installation points of each actuator on the ship are located on the same reference plane; (2) the installation direction or action angle of each actuator is consistent or approximately consistent. However, in actual engineering applications, the above prerequisites are often difficult to meet. Specifically, (1) due to ship manufacturing tolerances, assembly processes, or subsequent modifications, the installation points of some actuators have height or spatial position deviations, resulting in multiple installation points not being on the same plane; (2) actuators in different positions are limited by their own or the ship's structural layout, resulting in differences in the installation angles of the actuators, causing different actuators to generate inconsistent hydrodynamic reaction forces under the same control command.

[0053] Therefore, in this embodiment, instead of obtaining the control commands corresponding to each actuator 212 based on the geometric data of the pressure plate actuator 21 and the fixed geometric inverse model, the following equivalent control performance model is introduced:

[0054] ,in,

[0055] ,

[0056] In the formula The original desired control torque vector, The original equivalent control effectiveness matrix, The original control matrix, , and These are the original control matrices. The control input data corresponding to the first actuator 212, the control input data corresponding to the second actuator 212, and the control input data corresponding to the third actuator 212... Control input data corresponding to each actuator 212. Among them, This represents the total number of actuators 212.

[0057] Understandably, based on the above equivalent control effectiveness model, it is possible to obtain the original desired control torque vector. and the original equivalent control performance matrix The corresponding original control matrix is ​​calculated. In other words, without utilizing the geometric data and fixed geometric inverse model of the pressure plate actuator 21, the control commands corresponding to each actuator 212, i.e., the original control matrix, can still be obtained through the above equivalent control performance model. .

[0058] Furthermore, in this embodiment, based on the aforementioned equivalent control performance model, the changes in actual operating conditions are further considered to construct the first objective function. By solving the first objective function, the current equivalent control performance matrix that comprehensively reflects various actual operating condition factors is obtained. It should be noted that the actual operating conditions in this embodiment include one or more of the following: (1) deviation of the installation position and direction of actuator 212; (2) change of lever arm caused by non-coplanar installation points of actuator 212; (3) change of the correlation coefficient of hydrodynamic reaction force; (4) performance degradation of at least part of actuator 212. It is understandable that the current equivalent control performance matrix obtained by solving the first objective function... It can automatically compensate for the impact of various actual operating conditions on the attitude control and calibration of the ship based on historical data, thereby obtaining a more accurate and realistic current equivalent control performance matrix. This is to improve the effectiveness and accuracy of subsequent calculation results.

[0059] Continue to refer to Figure 1Step S3 calculates the current health status of each actuator 212 based on the various state data. In this embodiment, the state data also includes historical driving data and corresponding expected driving data. The historical driving data includes the actual water pressure speed and actual water pressure displacement of the actuator 212 when driving the pressure plate assembly 211, as well as the actual water pressure posture data of the actuator 212. The expected driving data includes the expected water pressure speed, expected water pressure displacement, and expected water pressure posture data corresponding to each actuator 212. In this embodiment, the actual water pressure posture data is obtained through state sensors, such as displacement sensors, speed sensors, current sensors, and pressure sensors. It should be noted that this application does not limit the location of the state sensors; in some embodiments, the state sensors are located on the actuator 212, and in some embodiments, they are located on the pressure plate assembly 211. Furthermore, this application does not limit the method of obtaining the expected driving data; in some embodiments, the expected driving data is obtained based on any one or more factors among control commands, control allocation results, kinematic relationships, and preset control planning rules. Based on the above, in step S3 of this embodiment, for each actuator 212, the current health level of the actuator 212 is calculated according to the corresponding historical driving data and expected driving data. Specifically, the... Current health status of actuator 212 The calculation expression is:

[0060] ,in,

[0061] ,

[0062] In the formula For the first The combined value of residual information of each actuator Location residual coefficient, For the first The actual water pressure speed corresponding to each actuator 212 For the first The desired water pressure velocity corresponding to each actuator 212 For velocity residual coefficient, For the first The actual pressure displacement corresponding to each actuator 212 For the first The expected pressure water displacement corresponding to each actuator 212 To control the performance residual coefficient, For the first The difference between the actual water pressure posture data and the expected water pressure posture data of the water pressure plate assembly 211 corresponding to each actuator 212. In this embodiment, the current health value ranges from 0 to 1, and the closer the current health value is to 1, the higher the control effectiveness of the corresponding actuator 212.

[0063] Understandably, historical driving data can reflect the actual control status of actuator 212 during historical control cycles. Based on this, by further combining the expected driving data corresponding to the historical driving data, the control effectiveness of actuator 212 during historical control cycles can be obtained. This allows for the effective quantification of the degree of control failures such as jamming, efficiency reduction, or complete failure that occur in actuator 212 during long-term operation. Consequently, these control failure factors can be incorporated into subsequent calculations to obtain control commands that more closely reflect actual conditions.

[0064] Continue to refer to Figure 1 Step S4 involves calculating the current control input data for each actuator 212 based on the current desired control torque vector, the current equivalent control performance matrix, and the current health status. The actuator 212 is adapted to drive the corresponding pressure plate assembly 211 according to the corresponding current control input data. Specifically, step S4 calculates the control matrix containing all current control input data by solving the following second objective function. :

[0065] ,

[0066] In the formula This represents the current desired control torque vector. This is the current equivalent control effectiveness matrix. This is a diagonal matrix containing the current health status of each executor 212. and These are the weight matrices for the corresponding terms. The diagonal matrix is... In the formula For the first The current health status of each executor 212. Furthermore, the constraints of the second objective function include:

[0067] ,

[0068] ,

[0069] In the formula For the minimum control matrix, For the maximum control matrix, and The first The control matrix corresponding to the first control cycle and the first control cycle The control matrix corresponding to each control cycle This is the upper limit of the maximum allowable change between adjacent control cycles, used to limit the magnitude of changes in control commands to avoid actuator saturation, shock, or excessively rapid changes.

[0070] Understandably, in this embodiment, the second objective function includes a current equivalent control performance matrix that comprehensively reflects various actual operating conditions. And a diagonal matrix that quantifies the degree of control failure of each actuator 212. This allows us to obtain a control matrix that adaptively adjusts according to the real-time state changes of the ship 200 and each ballast actuator 21 after solving the second objective function. This enables each actuator 212 to effectively execute the current control input data associated with the control commands, thereby achieving effective control and calibration of the ship 200's attitude. For example, when an actuator 212 completely fails, its corresponding current health level tends towards 0. In this embodiment, when solving the second objective function, the relevant actions handled by that actuator 212 are further transformed into control commands for other actuators 212, thereby reducing the impact of the actuator 212's inability to effectively execute control commands on the attitude control and calibration of the ship 200.

[0071] Continue to refer to Figure 1 Step S5 involves repeating steps S1 to S4 until the vessel 200 is in the desired pose. That is, step S5 determines whether the vessel 200 is in the desired pose; if the determination is negative, step S1 continues. In this embodiment, the desired pose corresponds to desired attitude data, meaning the specific desired pose is obtained through the desired attitude data. It should be noted that this application does not limit the specific setting of the desired pose. In some embodiments, the desired pose is a range value, thereby avoiding the repeated execution of steps S1 to S4. For example, the desired pose is set according to the minimum comfort requirements of the personnel on the vessel 200.

[0072] Reference Figure 4An embodiment of this application also proposes a self-calibration fault-tolerant control method 300 for a pressure plate (hereinafter referred to as control method 300). Based on the control method 100 described above, control method 300 further includes step S6 before step S4. Specifically, step S6 determines whether control degradation conditions are met. If the determination result is yes, a degradation selection matrix is ​​generated. The control degradation conditions include that the number of available actuators 212 is less than an actuator number threshold, and / or at least some of the actuators 212 have control performance less than a control performance threshold. For example, when an actuator 212 is damaged, it is an unusable actuator 212. Furthermore, in this embodiment, control performance is used to reflect the actual ability of the actuator 212 to respond to control commands, that is, to reflect the effective control output level that the actuator 212 can produce under changes in control input data in each control cycle. Accordingly, in this embodiment, control performance is obtained by processing any one or more of the following data: actuator fault data, performance degradation data, installation status change data, and environmental condition data.

[0073] Continue to refer to Figure 4 Regarding step S6, step S4 in this embodiment further includes: calculating the current control input data of each actuator 212 based on the degradation selection matrix, the current desired control torque vector, the current equivalent control performance matrix, and each current health level. Further refer to... Figure 5 Step S4 includes the following sub-steps. Step S41 updates the current desired control torque vector based on the downgrade selection matrix. Specifically, the updated current desired control torque vector... The calculation expression is:

[0074] ,

[0075] In the formula Choose a matrix for downgrading. This is the current desired control torque vector before the update.

[0076] Understandably, in this embodiment, the roll desired control torque in the current desired control torque vector can be further adjusted by using a downgrade selection matrix. Pitch Desired Control Torque The values ​​of the desired yaw control torque are used to flexibly adjust the suppression effect on specific rolling postures that need to be strengthened or protected. For example, when the number of available actuators 212 is less than the actuator number threshold, it is impossible to simultaneously and completely suppress the roll, pitch, and yaw problems of the vessel 200 using all actuators 212. Based on this, to ensure the suppression of the roll problem of the vessel 200, a corresponding degradation selection matrix is ​​generated. This results in the updated current desired control torque vector. Mid-roll desired control torque The value remains unchanged, and the desired pitch control torque The value and the desired yaw control torque The values ​​are all 0, thus ensuring that the subsequent generated current control input data only suppresses the roll problem, prioritizing the stability of the ship 200 in roll. It should be noted that this application does not limit the way the downgrade selection matrix affects the current desired control torque vector, the current equivalent control performance matrix, and each current health level. In some embodiments, the downgrade selection matrix updates the current equivalent control performance matrix; in other embodiments, the downgrade selection matrix updates the current health level or diagonal matrix. In order to achieve the same effect as updating the current desired control torque vector, the above embodiments can be updated by solving the second objective function to adjust each current control input data accordingly.

[0077] Continue to refer to Figure 5 Step S42 calculates the current control input data for each actuator based on the updated current desired control torque vector, the current equivalent control performance matrix, and the current health status. It is understood that the calculation methods for multiple parameters in control method 300 are the same as those for the corresponding parameters in control method 100, and will not be repeated here.

[0078] Reference Figure 6 An embodiment of this application also proposes a pressure plate self-calibration fault-tolerant control system 400 (hereinafter referred to as control system 400), and this control system 400 is applicable to the ship 200 mentioned above. Figure 5As shown, the control system 400 includes a data acquisition module 41, a control torque and control performance calculation module 42, a health calculation module 43, a degradation module 44, and a control input data calculation module 45. Specifically, the data acquisition module 41 is configured to acquire the attitude data of the ship 200 and the status data of each actuator 212. The control torque and control performance calculation module 42 includes a control torque calculation unit 421 and a control performance calculation unit 422. The control torque calculation unit 421 is configured to calculate the current desired control torque vector based on the attitude data, and the control performance calculation unit 422 is configured to calculate the current equivalent control performance matrix based on the status data. More specifically, the control torque calculation unit 421 is further configured to calculate the current desired control torque vector based on the actual attitude data and the desired attitude data. Furthermore, the control performance calculation unit 422 is further configured to calculate the current equivalent control performance matrix based on historical control input data and historical desired control torque vectors. In this embodiment, the health calculation module 43 is configured to calculate the current health of each actuator 212 based on various state data. More specifically, the health calculation module 43 is further configured to calculate the current health of each actuator 212 based on the corresponding historical driving data and expected driving data. In this embodiment, the degradation module 44 is configured to determine whether the control degradation condition is met; if the determination result is yes, a degradation selection matrix is ​​generated. In this embodiment, the control input data calculation module 45 is configured to calculate the current control input data of each actuator based on the degradation selection matrix, the current expected control torque vector, the current equivalent control performance matrix, and various current health values. More specifically, the control input data calculation module 45 includes an update unit 451 and a calculation unit 452. The update unit 451 is configured to update the current expected control torque vector based on the degradation selection matrix, and the calculation unit 452 is configured to calculate the current control input data of each actuator 212 based on the updated current expected control torque vector, the current equivalent control performance matrix, and various current health values.

[0079] It is understood that the attitude data and state data in this embodiment are the same as those in the previous embodiments, and will not be repeated here. Furthermore, the calculation methods for parameters such as the current desired control torque vector, the current equivalent control performance matrix, the current health status, the degradation selection matrix, and the current control input data in this embodiment are the same as those for the corresponding parameters in the previous embodiments, and will not be repeated here. It should be noted that this application does not limit the setting of the degradation module 44. In some embodiments, the control system 400 does not include the degradation module 44. Correspondingly, the control input data calculation module 45 is configured to calculate the current control input data of each actuator 212 based on the current desired control torque vector, the current equivalent control performance matrix, and each current health status.

[0080] In addition, this application also proposes a computer-readable medium storing computer program code, which, when executed by a processor, implements the aforementioned pressure plate self-calibration fault-tolerant control method.

[0081] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0082] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0083] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0084] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0085] Some aspects of this application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The aforementioned hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." The processor may be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. Furthermore, aspects of this application may manifest as computer products residing in one or more computer-readable media, including computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), optical discs (e.g., compressed CDs, digital multifunction DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.).

[0086] A computer-readable medium may contain a propagated data signal containing computer program code, for example, on baseband or as part of a carrier wave. This propagated signal may take various forms, including electromagnetic, optical, and so on, or suitable combinations thereof. A computer-readable medium can be any computer-readable medium other than a computer-readable storage medium, which can be connected to an instruction execution system, apparatus, or device to enable communication, propagation, or transmission of a program for use. The program code located on the computer-readable medium can be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or similar media, or any combination of the above media.

[0087] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the essential spirit of this application will fall within the scope of the claims of this application.

Claims

1. A self-calibration fault-tolerant control method for pressure plates, applicable to ships, characterized in that, The vessel is configured with a ballast plate actuator, the ballast plate actuator including a ballast plate assembly and an actuator connected to the ballast plate assembly, and the method includes the following steps: Step S1: Obtain the attitude data of the ship and the status data of each of the pressure plate assemblies. The status data includes the actuator status quantity of the actuator, the fault health characterization quantity of the actuator, and / or the constraint-related quantity of the actuator. Step S2: Calculate the current desired control torque vector based on the attitude data, and calculate the current equivalent control performance matrix based on the state data. The current equivalent control performance matrix includes the mapping relationship between the actuator command of the actuator and the generalized force or torque between the actuators. Step S3: Calculate the current health status of each actuator based on the various state data. Step S3 further includes, for each actuator, calculating its current health status based on corresponding historical driving data and expected driving data. The historical driving data includes the actual water pressure speed and actual water pressure displacement when the actuator drives the pressure plate assembly, as well as the actual water pressure posture data of the actuator. The expected driving data includes the expected water pressure speed, expected water pressure displacement, and expected water pressure posture data corresponding to each actuator. Current health status of the actuator The calculation expression is: ,in, ， In the formula For the first The combined value of the residual information of the actuators, Location residual coefficient, For the first The actual water pressure speed corresponding to each of the aforementioned actuators. For the first The desired water pressure speed corresponding to each of the actuators. For velocity residual coefficient, For the first The actual water pressure displacement corresponding to each of the aforementioned actuators. For the first The desired pressure displacement corresponding to each of the actuators. To control the performance residual coefficient, For the first The difference between the actual water-pressing attitude data and the expected water-pressing attitude data of the water-pressing plate assembly corresponding to each of the actuators; Step S4: Calculate the current control input data of each actuator based on the current desired control torque vector, the current equivalent control performance matrix, and each current health level, wherein the actuator is adapted to drive the corresponding pressure plate assembly according to the corresponding current control input data; Step S5: Repeat steps S1 to S4 until the ship is in the desired position.

2. The pressure plate self-calibration fault-tolerant control method as described in claim 1, characterized in that, The attitude data includes the ship's actual attitude data and desired attitude data. Step S2, which involves calculating the current desired control torque vector based on the attitude data, further includes: The current desired control torque vector is calculated based on the actual attitude data and the desired attitude data.

3. The pressure plate self-calibration fault-tolerant control method as described in claim 2, characterized in that, The actual attitude data includes the actual roll angle. Actual pitch angle Actual yaw angle Actual roll rate Actual pitch angular velocity and actual yaw rate The desired attitude data includes the desired roll angle. Expected pitch angle Desired yaw angle Desired roll rate Desired pitch angular velocity and desired yaw rate The desired control torque vector includes the desired roll control torque. Pitch Desired Control Torque and yaw desired control torque The expression for calculating the current desired control torque vector is: ， In the formula Let the current desired control torque vector be... For angle control gain matrix, This is the angular velocity control gain matrix.

4. The self-calibration fault-tolerant control method for pressure plates as described in claim 1, characterized in that, The state data includes a historical expected control torque vector corresponding to at least one historical control cycle and historical control input data for each actuator. Step S2, which involves calculating the current equivalent control performance matrix based on the state data, further includes: The current equivalent control performance matrix is ​​calculated based on the historical control input data and the historical expected control torque vector.

5. The self-calibration fault-tolerant control method for pressure plates as described in claim 4, characterized in that, The step of calculating the current equivalent control performance matrix of the current control cycle based on the historical control input data and the historical expected control torque vector further includes calculating the equivalent control performance matrix by solving the following first objective function: ， In the formula For the current moment, For sliding time windows, For a moment The historical expected control torque vector corresponding to the historical control cycle in which it is located. For a moment The historical control input data corresponding to the historical control cycle in which it is located. The preset nominal performance matrix, The regularization coefficient is . This is the current equivalent control performance matrix.

6. The self-calibration fault-tolerant control method for pressure plates as described in claim 1, characterized in that, Step S4 further includes calculating a control matrix containing all the current control input data by solving the following second objective function. : ， In the formula Let the current desired control torque vector be... The current equivalent control performance matrix is... This is a diagonal matrix containing the current health status of each of the aforementioned actuators. and These are the weight matrices for the corresponding terms.

7. The self-calibration fault-tolerant control method for pressure plates as described in claim 6, characterized in that, The constraints of the second objective function include: ， ， In the formula For the minimum control matrix, For the maximum control matrix, and The first The control matrix corresponding to the first control cycle and the first control cycle The control matrix corresponding to each control cycle. This is the upper limit of the maximum allowable change between adjacent control cycles.

8. The self-calibration fault-tolerant control method for pressure plates as described in any one of claims 1 to 7, characterized in that, The procedure preceding step S4 also includes: Determine whether the control degradation conditions are met. If the determination result is yes, generate a degradation selection matrix. The control degradation conditions include that the number of available actuators is less than an actuator number threshold, and / or the control performance corresponding to at least some of the actuators is less than a control performance threshold. Step S4 further includes: Based on the degradation selection matrix, the current desired control torque vector, the current equivalent control performance matrix, and the current health status, the current control input data of each actuator is calculated.

9. The self-calibration fault-tolerant control method for pressure plates as described in claim 8, characterized in that, The step of calculating the current control input data of each actuator based on the degradation selection matrix, the current expected control torque vector, the current equivalent control performance matrix, and each current health level further includes: Update the current desired control torque vector according to the downgrade selection matrix; Based on the updated current desired control torque vector, the current equivalent control performance matrix, and each current health level, the current control input data of each actuator is calculated.

10. The self-calibration fault-tolerant control method for pressure plates as described in claim 9, characterized in that, The updated current desired control torque vector The calculation expression is: ， In the formula For the degradation selection matrix, This is the current desired control torque vector before the update.

11. A self-calibrating fault-tolerant control system for a pressure plate, applicable to ships, characterized in that, The vessel is configured with a ballast plate actuator, the ballast plate actuator including a ballast plate assembly and an actuator connected to the ballast plate assembly, comprising: The data acquisition module is configured to acquire the attitude data of the ship and the status data of each of the actuators; The control torque and control performance calculation module includes a control torque calculation unit and a control performance calculation unit. The control torque calculation unit is configured to calculate the current desired control torque vector based on the attitude data, and the control performance calculation unit is configured to calculate the current equivalent control performance matrix based on the state data. A health calculation module is configured to calculate the current health of each actuator based on the various state data. The health calculation module is further configured to calculate the current health of each actuator based on corresponding historical driving data and expected driving data. The historical driving data includes the actual water pressure speed and actual water pressure displacement when the actuator drives the water pressure plate assembly, as well as the actual water pressure posture data of the actuator. The expected driving data includes the expected water pressure speed, expected water pressure displacement, and expected water pressure posture data corresponding to each actuator. Current health status of the actuator The calculation expression is: ,in, ， In the formula For the first The combined value of the residual information of the actuators, Location residual coefficient, For the first The actual water pressure speed corresponding to each of the aforementioned actuators. For the first The desired water pressure speed corresponding to each of the actuators. For velocity residual coefficient, For the first The actual water pressure displacement corresponding to each of the aforementioned actuators. For the first The desired pressure displacement corresponding to each of the actuators. To control the performance residual coefficient, For the first The difference between the actual water-pressing attitude data and the expected water-pressing attitude data of the water-pressing plate assembly corresponding to each of the actuators; The control input data calculation module is configured to calculate the current control input data of each actuator based on the current desired control torque vector, the current equivalent control performance matrix, and the current health status. The actuator is adapted to drive the corresponding pressure plate assembly according to the corresponding current control input data.

12. The pressure plate self-calibration fault-tolerant control system as described in claim 11, characterized in that, The attitude data includes the ship's actual attitude data and desired attitude data. The control torque calculation unit is further configured to calculate the current desired control torque vector based on the actual attitude data and the desired attitude data.

13. The pressure plate self-calibration fault-tolerant control system as described in claim 11, characterized in that, The status data includes a historical expected control torque vector corresponding to at least one historical control cycle and historical control input data for each actuator. The control performance calculation unit is further configured to calculate the current equivalent control performance matrix based on the historical control input data and the historical expected control torque vector.

14. The pressure plate self-calibration fault-tolerant control system as described in claim 11, characterized in that, The status data includes historical driving data and corresponding expected driving data. The health calculation module is further configured to calculate the current health of each actuator based on the corresponding historical driving data and expected driving data.

15. The pressure plate self-calibration fault-tolerant control system as described in claim 11, characterized in that, Also includes: The degradation module is configured to determine whether the degradation control conditions are met. If the determination result is yes, a degradation selection matrix is ​​generated. The control input data calculation module is further configured to calculate the current control input data of each actuator based on the degradation selection matrix, the current expected control torque vector, the current equivalent control performance matrix, and each current health level.

16. The pressure plate self-calibration fault-tolerant control system as described in claim 15, characterized in that, The control input data calculation module includes: The update unit is configured to update the current desired control torque vector according to the downgrade selection matrix; The calculation unit is configured to calculate the current control input data of each actuator based on the updated current expected control torque vector, the current equivalent control performance matrix, and each current health level.

17. A computer-readable medium storing computer program code, which, when executed by a processor, implements the pressure plate self-calibration fault-tolerant control method as described in any one of claims 1-10.

Images