CN106585915A - Ship anti-rolling system double loop control based on fin and wing fin vector control - Google Patents
Ship anti-rolling system double loop control based on fin and wing fin vector control Download PDFInfo
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- CN106585915A CN106585915A CN201710050097.0A CN201710050097A CN106585915A CN 106585915 A CN106585915 A CN 106585915A CN 201710050097 A CN201710050097 A CN 201710050097A CN 106585915 A CN106585915 A CN 106585915A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
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Abstract
The invention provides a ship anti-rolling system double loop control based on fin and wing fin vector control. The ship anti-rolling system double loop control based on fin and wing fin vector control comprises an anti-rolling control system in an outer loop and an electric drive servo system in an inner loop, wherein a rolling angle is detected by a rolling detection device; the difference between the rolling angle and a given rolling angle is transmitted to an outer loop fuzzy controller of the anti-rolling control system in the outer loop; a righting control moment desired by anti-rolling control is calculated to generate a fin angle and wing fin angle instruction signal; as a given input of the electric drive servo system in the inner loop, the difference between the fin angle and wing fin angle instruction signal and the detected fin angle and the difference between the fin angle and wing fin angle instruction signal and the detected wing fin angle are respectively calculated; and the two differences are respectively transmitted to a fin inner loop fuzzy controller and a wing fin inner loop fuzzy controller so as to realize accurate control of a wing fin servo system executor and drive the fin and the wing fin to move so as to generate a desired rolling righting control moment. According to the ship anti-rolling system double loop control based on fin and wing fin vector control, fuzzy genetic control is performed on the fin/wing fin inner loop electric servo system and the anti-rolling outer loop control system by using a double-loop fuzzy genetic control strategy so as to further improve the anti-rolling effect and reduce system energy consumption.
Description
Technical field
The present invention relates to a kind of ship rollstabilization control method, particularly a kind of ship in assembling fin/wing fin vector face
Oceangoing ship rollstabilization Fuzzy Genetic Algorithm intelligent control method.
Background technology
Affected by environmental factors such as wave, sea winds during ship's navigation, violent random motion will be produced.Ship
Rolling motion directly influence the airworthiness and comfortableness of ship, produce many adverse effects, What is more can jeopardize ship
The navigation safety of oceangoing ship.Ship Steering Autopilot is acknowledged as maximally efficient active antirolling device, adopts traditional stabilizer more
Overall fin, technically limits due to limiting in engineering and realizing, the area and aspect ratio of fin are restricted, therefore produce on fin
Controling power (square) be also restricted, so as to stabilization capability is also restricted with anti-rolling efficiency.Opened by the afterbody in fin
The flap forms a wing fin, and to fin and wing fin independent vector controlled is implemented, and can adjust the curvature on combination fin surface, substantially increases
The hydrodynamic performance and ability of righting of controller.Therefore research is based on the ship rollstabilization control system skill of fin/wing fin chain of command
Art has important engineering application value.
The randomness and Parameter Perturbation of ship rolling system, in addition the liter force parameter of fin and wing fin also can be by the speed of a ship or plane and wave
Affect to grade and change, therefore, it is difficult to setting up accurate system mathematic model, traditional PID control rule robustness is poor, it is difficult to reach
To preferable control effect.Fuzzy control should not seek accurate Mathematical Modeling, with good robustness.
The content of the invention
It is an object of the invention to provide one kind can guarantee that fin/wing fin electric servo system has higher position, speeds control
Precision and optimal ship stabilization effect based on fin and the ship rollstabilization system double loop control of wing fin vector controlled.
The object of the present invention is achieved like this：The electric drive servo system of rollstabilization control system and inner ring including outer shroud
System, detects that roll angle makees the poor rollstabilization control system for sending into outer shroud with given roll angle by rolling detection device
Outer shroud fuzzy controller FC1, calculating provides righting control moment and fin angle, wing fin angle command signal needed for rollstabilization control, and
It is poor with wing fin angle with the fin angle for detecting respectively as the given input of the electric drive servo-drive system of inner ring, it is respectively fed to fin
Inner ring fuzzy controller FC2 and wing fin inner ring fuzzy controller FC3, to realize that fin is accurate with wing fin servo-drive system actuator
Control, drives fin that the rolling righting control moment needed for producing is moved with wing fin.
The present invention can also include：
1st, the concrete processing procedure of the rollstabilization control system of outer shroud is：The control input of outer shroud fuzzy controller FC1 is
Rolling angular displacementWith roll angle deviation variation rateWherein To give roll angle,For actual rolling
Angle, by outer shroud fuzzy controller FC1 the controlled quentity controlled variable at fin angle and wing fin angle intelligent decision device is obtained
αfAnd βfRespectively fin angle and wing fin angle, are then calculated under least energy consumption and optimal anti-rolling effect index by intelligent decision device
Fin angle and wing fin angle command signal αr, βr。
2nd, the concrete processing procedure of the electric drive servo-drive system of inner ring is：Fin inner ring fuzzy controller FC2 and wing fin inner ring
The input of fuzzy controller FC3 is respectively fin angle αeWith wing fin angle betaeAnd corresponding fin angle error rate of change d αe/ dt and wing fin
Angle error rate of change d βe/ dt, wherein αe=αr-αf, βe=βr-βf, fin inner ring fuzzy controller FC2 output u2=FC2 (αe,d
αe) export u with wing fin inner ring fuzzy controller FC33=FC3 (βe,dβe) be used to correct the parameter of servo system controller.
The present invention is for being based on fin/wing fin vector controlled face ship rollstabilization control system, it is proposed that using bicyclic fuzzy
Hereditary control strategy, is respectively directed to fin/wing fin inner ring electric servo system and rollstabilization outer shroud control system implements Fuzzy Genetic Algorithm control
System strategy, further increases anti-rolling effect, reduces system energy consumption.
The bicyclic Fuzzy Genetic Algorithm control system of ship rollstabilization mainly includes the rollstabilization control system of outer shroud and the electricity of inner ring
Drive servo-drive system.Required rolling righting moment is produced by driving fin/wing fin self-movement, the rollstabilization to ship is realized
Control.Outer shroud rollstabilization controller is made up of fuzzy controller FC1 and fin angle/wing fin angle intelligent decision device, fuzzy controller FC1
Required rolling righting moment is shaken for calculating to subtract, rational fin angle, wing fin angle are provided by fin angle/wing fin angle intelligent decision device
Degree command signal.The roll angle of rolling detection device detection and the difference of given roll angle send into the transverse mode paste that subtracts of outer shroud and shake control
Device FC1 processed, by calculating the parallel decision-making device of righting moment provided needed for rollstabilization control fin angle, wing fin angle instruction letter are given
Number, and using the angle signal as fin/wing fin inner ring servo-drive system given input signal, with the fin angle, wing fin angle for detecting
Difference send into fin, the wing fin inner ring fuzzy controller FC2, FC3, to the precise control for realizing fin/wing fin chain of command.
The present invention can be fast and accurately controlled fin/wing fin servo-drive system using inner ring fuzzy controller, it is ensured that
Good fin angle/wing fin angle servo tracking performance.Under random seaway disturbance, outer shroud fuzzy control can guarantee that rollstabilization system
With good anti-rolling effect and reduce the energy consumption of system.Control is driven to fin/wing fin using PMSM Servo System
System, with preferable low-speed performance, stable output torque, wider speed adjustable range, preferably starts and braking ability.
Description of the drawings
Fig. 1 is based on fin/wing fin vector controlled face ship rollstabilization Fuzzy Genetic Algorithm control system schematic diagram.
Fig. 2 outer shroud fuzzy controller (FC1) structure charts.
Fig. 3 fin PMSM servo system structure figures.
Fig. 4 wing fin PMSM servo system structure figures.
Specific embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is explained in detail：
With reference to Fig. 1, fin/wing fin rollstabilization control system is mainly by the rollstabilization controller of outer shroud, the fin/wing fin of inner ring
PMSM servo-drive system fuzzy controller FC2 and FC3, rolling detection device, fin angle/wing fin angle detecting device and chain of command fin/wing
Fin etc. is constituted.Wherein outer shroud rollstabilization controller is made up of fuzzy controller FC1 and fin angle/wing fin angle intelligent decision device.
Rolling detection device detects roll angle and makees the rollstabilization controller that difference sends into outer shroud with given roll angle, leads to
Cross and calculate the righting moment and fin angle, wing fin angle command signal provided needed for rollstabilization control, using the command signal as inner ring
The given input of fin/wing fin servo-drive system, and make difference feeding fin, wing fin inner ring fuzzy control with the fin angle, wing fin angle for detecting
Device FC2, FC3, to the precise control for implementing fin/wing fin PMSM servo-drive systems, drive fin/wing fin to rotate the rolling needed for producing
Righting control moment, realizes that the rollstabilization to ship is controlled.Fuzzy controller FC1 is used to calculate the rolling righting control subtracted needed for shaking
Torque processed, and the fin angle of Synergistic and energy-saving, wing fin angle command signal are provided by fin angle/wing fin angle intelligent decision device.
With reference to Fig. 2, the input of outer shroud rollstabilization controller is rolling angular displacementWith roll angle deviation variation rateIts
In To give roll angle (usually 0),For actual roll angle.Rollstabilization controller is by fuzzy controller FC1
With fin angle/wing fin angle intelligent decision device composition.Rolling angular displacementWith roll angle deviation variation rateSend into fuzzy controller
In FC1, through arithmetic analysis, the input quantity of fin angle/wing fin angle intelligent decision device can be obtained
Then optimum fin angle and wing fin angle command signal α under least energy consumption index is calculated by intelligent decision devicer, βr。
Fuzzy controller FC1 employs Revised genetic algorithum Optimizing Fuzzy Controller (IGA-FC) control rule.Control
Device is made up of the part such as performance evaluation module, knowledge base, fuzzy rule base, parameter modification actuator and rules modification actuator.
Performance evaluation module adding with ship rolling angle, angular velocity in roll, fin angle, fin angular rate of change, wing fin angle and wing fin angular rate of change
Power integrated value is used as Performance Evaluating Indexes.Evaluation of the Genetic algorithms optimization based fuzzy logic controller (IGA-FC) according to the evaluation index
Value, while based on the prior control system knowledge base set up, rules modification is carried out to fuzzy rule in real time, while the comparative example factor
Ke、Kec, KuOn-line parameter amendment is carried out, so as to further enhance the adaptive ability and robustness of system.
With reference to Fig. 3 and 4, inner ring fin/wing fin PMSM Servo System mainly includes two permanent magnet synchronous motors
(PMSM), two groups of power amplifier devices, two groups of planetary reducers, associated actuator mechanism and fin leaves and wing fin leaf etc..Its
In, fin and wing fin are each operated alone, and are realized by two sets of PMSM Servo Systems respectively.Feedback fraction mainly includes
Current feedback, velocity feedback and position feedback, and implement fin leaf/wing fin leaf position signal acquisition etc..
With reference to Fig. 3, the input of inner ring fin PMSM Servo System fuzzy controller FC2 is fin angle error αe, with
And corresponding fin angle error rate of change d αe/ dt, wherein αe=αr-αf, the controller output u of FC22=FC2 (αe,dαe), it is used for
The parameter of amendment fin servo system controller, so as to realize the accurate quick control at fin angle.Fin servo-drive system adopts three close-loop control
Strategy, fuzzy controller FC2 can be optimized in real time to controller parameter, based on SVPWM control method, by power amplification
Device, drives servomotor, drives fin leaf to follow instruction to rotate.
With reference to Fig. 4, the input of inner ring wing fin PMSM Servo System fuzzy controller FC3 is wing fin angle error
βe, and corresponding wing fin angle error rate of change d βe/ dt, wherein βe=βr-βf, the controller output u of FC33=FC3 (βe,d
βe), for correcting the parameter of wing fin servo system controller, so as to realize the accurate quick control at wing fin angle.Wing fin servo system
System adopts three close-loop control strategy, and fuzzy controller FC3 can be optimized in real time to controller parameter, based on SVPWM controlling parties
Method, by power amplifier device, drives servomotor, drives wing fin leaf to follow instruction to rotate.
Fuzzy controller fuzzy subset is as follows for inner ring
So as to obtain fuzzy reasoning table, as shown in table 1.
Wherein, NB represents " negative big ", and NM is represented " in negative ", and NS represents " negative little ", and ZE represents " zero ", and PS represents just little, PM
Represent " center ", PB represents " honest "
Ring controller fuzzy reasoning table in table 1
Claims (3)
1. a kind of ship rollstabilization system double loop control based on fin and wing fin vector controlled, is characterized in that：Including outer shroud
Rollstabilization control system and inner ring electric drive servo-drive system, roll angle and given rolling are detected by rolling detection device
Angle makees the outer shroud fuzzy controller FC1 that difference sends into the rollstabilization control system of outer shroud, and calculating is given needed for rollstabilization control
Righting control moment and fin angle, wing fin angle command signal, and the given input of the electric drive servo-drive system as inner ring, respectively with
The fin angle for detecting is poor with wing fin angle, is respectively fed to fin inner ring fuzzy controller FC2 and wing fin inner ring fuzzy controller FC3,
To the precise control for realizing fin and wing fin servo-drive system actuator, drive fin that the rolling righting control needed for producing is moved with wing fin
Torque processed.
2. the ship rollstabilization system double loop control based on fin and wing fin vector controlled according to claim 1, its
The concrete processing procedure for being characterized in that the rollstabilization control system of outer shroud is：The control input of outer shroud fuzzy controller FC1 is rolling
Angular displacementWith roll angle deviation variation rateWherein To give roll angle,For actual roll angle,
The controlled quentity controlled variable at fin angle and wing fin angle intelligent decision device is obtained by outer shroud fuzzy controller FC1
αfAnd βfRespectively fin angle and wing fin angle, are then calculated under least energy consumption and optimal anti-rolling effect index by intelligent decision device
Fin angle and wing fin angle command signal αr, βr。
3. the ship rollstabilization system double loop control based on fin and wing fin vector controlled according to claim 2, its
The concrete processing procedure for being characterized in that the electric drive servo-drive system of inner ring is：Fin inner ring fuzzy controller FC2 and wing fin inner ring are fuzzy
The input of controller FC3 is respectively fin angle αeWith wing fin angle betaeAnd corresponding fin angle error rate of change d αe/ dt is missed with wing fin angle
Difference rate of change d βe/ dt, wherein αe=αr-αf, βe=βr-βf, fin inner ring fuzzy controller FC2 output u2=FC2 (αe,dαe) with
Wing fin inner ring fuzzy controller FC3 exports u3=FC3 (βe,dβe) be used to correct the parameter of servo system controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710050097.0A CN106585915B (en) | 2017-01-23 | 2017-01-23 | Ship rollstabilization system double loop control based on fin Yu wing fin vector controlled |
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| CN201710050097.0A CN106585915B (en) | 2017-01-23 | 2017-01-23 | Ship rollstabilization system double loop control based on fin Yu wing fin vector controlled |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600352A (en) * | 2017-08-22 | 2018-01-19 | 哈尔滨工程大学 | A kind of ship stabilization control system based on ship hydrodynamics online forecasting |
| CN110356525A (en) * | 2019-08-07 | 2019-10-22 | 上海衡拓船舶设备有限公司 | Electricity with retarder drives fin stabilizer |
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| JPS61139590A (en) * | 1984-12-13 | 1986-06-26 | Mitsubishi Heavy Ind Ltd | Safety device for fin stabilizer |
| JPS62221992A (en) * | 1986-03-24 | 1987-09-30 | Mitsui Eng & Shipbuild Co Ltd | Hull anti-rolling device |
| JPH05131976A (en) * | 1991-11-14 | 1993-05-28 | Mitsubishi Heavy Ind Ltd | Fuzzy control type fin stabilizer |
| CN1763677A (en) * | 2005-10-17 | 2006-04-26 | 太原理工大学 | Intelligent discharging control system of jig |
| CN102336254A (en) * | 2010-07-26 | 2012-02-01 | 上海派恩科技有限公司 | Electro-hydraulic control method of anti-rolling fin |
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| CN103895832A (en) * | 2014-03-18 | 2014-07-02 | 哈尔滨工程大学 | Ship electric servo fin and wing fin rolling stabilization intelligent vector control method |
| CN103895831A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Ship fin/wing fin rolling-reducing anti-saturation control device and control method thereof |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61139590A (en) * | 1984-12-13 | 1986-06-26 | Mitsubishi Heavy Ind Ltd | Safety device for fin stabilizer |
| JPS62221992A (en) * | 1986-03-24 | 1987-09-30 | Mitsui Eng & Shipbuild Co Ltd | Hull anti-rolling device |
| JPH05131976A (en) * | 1991-11-14 | 1993-05-28 | Mitsubishi Heavy Ind Ltd | Fuzzy control type fin stabilizer |
| CN1763677A (en) * | 2005-10-17 | 2006-04-26 | 太原理工大学 | Intelligent discharging control system of jig |
| CN102336254A (en) * | 2010-07-26 | 2012-02-01 | 上海派恩科技有限公司 | Electro-hydraulic control method of anti-rolling fin |
| CN103818525A (en) * | 2014-02-28 | 2014-05-28 | 扬州市江都永坚有限公司 | Fuzzy neural network PID (proportion integration differentiation) control system and fuzzy neural network PID control method for fin stabilizer |
| CN103895831A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Ship fin/wing fin rolling-reducing anti-saturation control device and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600352A (en) * | 2017-08-22 | 2018-01-19 | 哈尔滨工程大学 | A kind of ship stabilization control system based on ship hydrodynamics online forecasting |
| CN107600352B (en) * | 2017-08-22 | 2019-03-05 | 哈尔滨工程大学 | A kind of ship stabilization control system based on ship hydrodynamics online forecasting |
| CN110356525A (en) * | 2019-08-07 | 2019-10-22 | 上海衡拓船舶设备有限公司 | Electricity with retarder drives fin stabilizer |
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| CN106585915B (en) | 2018-08-17 |
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