CN112068437A - Single-step prediction control anti-rolling method for high-speed multi-hull ship - Google Patents
Single-step prediction control anti-rolling method for high-speed multi-hull ship Download PDFInfo
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Abstract
The invention provides a single-step prediction control stabilizing method for a high-speed multi-hull ship, which comprises the following steps: establishing a vertical motion model of multi-hull ship coupling; performing mathematical transformation on the coupled vertical motion model to obtain a single-input single-output decoupling heave and pitch motion model; designing a finite time observer, and estimating the coupling term of the heave motion and the pitch motion of the multi-hull vessel on line to obtain the anti-rolling compensation quantity; designing a single-step prediction control law, and solving the stabilization feedback control quantity of heave motion and pitch motion; and adding the compensation quantity and the feedback control quantity, and performing inverse operation on a control distribution matrix of the roll reducing attachment to obtain the control attack angle of the T-shaped wing and the wave pressing plate. The invention obviously reduces the heave and pitch of the multi-hull vessel in motion. The method realizes the application of the predictive control method with the finite time extended observer to the longitudinal rolling of the high-speed multi-hull ship. The multi-hull ship is suitable for multi-interference and high-speed marine navigation environments, the influence of sea waves on the stability of the multi-hull ship can be effectively reduced, and the performance of the multi-hull ship is improved.
Description
Technical Field
The invention relates to a single-step prediction control stabilization method, in particular to a single-step prediction control stabilization method of a high-speed multi-hull vessel, and belongs to the field of high-speed multi-hull vessel longitudinal motion stabilization control.
Background
The high-speed multi-hull ship has good transverse stability, wave resistance and maneuverability and wide application range. However, due to the unique linearity and structure, the pitching and heaving amplitudes are too large during navigation, and the performance of the vehicle is seriously influenced, so that the suppression of the heaving and pitching is particularly important.
At present, a multi-hull ship mostly takes T-shaped wings and wave pressing plates as anti-rolling attachments, and a reasonable control strategy is designed for anti-rolling control.
The multi-hull ship is influenced by different sea conditions and ship motion states encountered in actual navigation, the motion of the multi-hull ship is complex, and the motion model has the characteristics of strong coupling, time variation, uncertainty, nonlinearity and the like.
In the traditional stabilization control, the pitching channel and the heaving channel are separated to further control, and a PD stabilization control method is designed, but a large amount of time is needed for off-line parameter debugging, the robustness is weak, and the stabilization effect is general.
On the other hand, the optimal control robustness of the modern control theory is poor, buffeting phenomenon exists in sliding mode control, and therefore the anti-rolling performance is limited, the self-adaptive capacity is poor, and the application range is limited.
The predictive control breaks through the limitation of other robust control ideas, comprehensively utilizes the historical information and the model information of the controlled object, continuously performs rolling optimization on the multi-target function, and outputs and corrects the predictive model according to the actually measured object, so that the control effect is improved, and the conservatism is reduced.
Disclosure of Invention
The invention aims to provide a single-step predictive control anti-rolling method of a high-speed multi-hull vessel for improving the stability of longitudinal motion of the high-speed multi-hull vessel.
The purpose of the invention is realized as follows:
a single-step predictive control anti-rolling method for a high-speed multi-hull ship comprises the following steps:
step one, establishing a vertical motion model of multi-hull ship coupling;
step two, carrying out mathematical transformation on the coupled vertical motion model to obtain a single-input single-output decoupling heave and pitch motion model;
designing a finite time observer, and estimating the coupling terms of the heave motion and the pitch motion of the multi-hull vessel on line to obtain a roll reduction compensation quantity;
designing a single-step prediction control law, and solving the stabilization feedback control quantity of the heave motion and the pitch motion;
and step five, adding the compensation quantity and the feedback control quantity, and obtaining the control attack angle of the T-shaped wing and the wave suppression plate through inverse operation of a control distribution matrix of the roll reduction attachment.
The invention also includes such features:
the longitudinal motion model of the multi-hull vessel in the step one is as follows:
obtaining a multihull ship pitching and heaving motion equation set by the Dalnbell theorem:
wherein: m is the mass of the multihull vessel; i is55Is the moment of inertia of the multihull vessel about the y-axis; a is33,a55Additional mass and additional moment of inertia for the multihull vessel; b33,b55The damping coefficient of the system; c. C33,c55Is the coefficient of restitution force of the system; a is35,a53,b35,b53,c35,c53Coupling term coefficient of force and moment; x is the number of3,x5Respectively representing heave displacement and pitch angle;
individual watchShowing heave speed and pitch angular speed;
respectively representing heave acceleration and pitch angular acceleration; fT-foil,MT-foilRespectively representing the lift force and the lifting moment of the T-shaped hydrofoil; fflap,MflapRespectively representing the force and moment provided by the press corrugated plate; fwave,MwaveRespectively representing the wave disturbance force and moment.
The second step is specifically as follows:
decoupling model of heave movement: order to
Representing heave displacement and heave velocity, respectively, for a decoupled heave channel model expressed as the following form with single input and single output:
wherein
The amount of motion of the pitch channel coupled to the heave channel is used as a comprehensive uncertainty item of the decoupling heave channel; input force F ═ FT-foil+Fflap，FT-foilRespectively representing the lift of a T-shaped hydrofoil, FflapRespectively representing the force provided by the press plates, FwaveRespectively represent the disturbance force of the sea waves,
is the gain value;
a pitching motion decoupling model: order to
Respectively representing pitch angle and pitch angular velocity
Wherein
The amount of motion of a heave channel coupled to a pitch channel is used as a comprehensive uncertainty item of a decoupling pitch motion model; input torque M-MT-foil+Mflap，
Is the gain value.
The third step is specifically as follows: step three, regarding the coupling quantity of the pitching and the heaving as an uncertain quantity, and establishing a finite time observer of the decoupled pitching and heaving channel:
introduction of expansion state x in decoupled heave channel3＝Δf1Memory for recording
Expand into a new system
Designing an extended state observer with non-uniform convergence in a finite time, i.e.
In the formula: e.g. of the type1＝z1-x1；0＜a＜1；knMore than 0(n is 1,2,3) is an adjustable parameter; z is a radical of1,z2Is the system state x1,x2Estimate of z3Is a systematic lumped interference estimate, sig (-) is a sign function, letm＝zm-xmThe coupling control compensation of (m ═ 1,2,3) heave channel is configured as follows:
uc-heave＝-z3·(m+a33)
introducing an expansion state to the pitch motion model
Introducing an expansion state x to the pitch motion model33＝Δf2To and from
Can be expanded into a new system
Designed corresponding finite time extended state observer
In the formula: e.g. of the type11＝z11-x11；0＜＜1；knn> 0 (n-1, 2,3) is an adjustable parameter, z11,z22Is the system state x11,x22Estimated value of z33Estimating system lumped interference; sig (·) is a sign function;
the coupling control compensation of the pitching channel is configured as follows:
uc-pitch＝-z33.(I55+a55)。
the fourth step is specifically as follows: adopting a single-step prediction controller as a roll-reducing attached body control system of the multi-hull vessel, taking the heave and pitch of the multi-hull vessel as control objects, and controlling the control objects by using the prediction controller;
predicted control quantity of heave channel
Where 0.05, 0.255 and 1 × 10-6Then the control quantity of heave channel feedback
The feedback quantity u of the pitching channel can be obtained in the same way2:
Where 0.05, 0.255 and 1 × 10-6。
The fifth step is specifically as follows: adding the compensation quantity and the feedback control quantity, and obtaining a control attack angle of the T-shaped wing and the wave pressing plate through inverse operation of a control distribution matrix of the anti-rolling appendage:
U1＝u1+uc-heave
Wherein alpha is1Angle of attack, α, for press-formed sheets2Of T-shaped wingAngle of attack, fflapForce generated for pressing the corrugated board, fT-foilForce generated by the T-shaped wing, rho is sea water density, A is T-shaped hydrofoil area, CLIs the coefficient of lift of the hydrofoil, V is the velocity of the fluid relative to the hydrofoil, CL1Is the lift coefficient of the press wave plate, S is the effective area of the press wave plate, lflap、lT-foilRespectively is the arm of force of pressing unrestrained board and T type wing.
Compared with the prior art, the invention has the beneficial effects that:
the control method designed by the invention aims at longitudinal rolling reduction in sailing of the most common high-speed multi-hull ship. Obviously reducing the heave and pitch of the multi-hull vessel in motion. The method realizes the application of the predictive control method with the finite time extended observer to the longitudinal rolling of the high-speed multi-hull ship. The multi-hull ship navigation device is suitable for multi-interference and high-ship-speed marine navigation environments, the influence of sea waves on the stability of the multi-hull ship can be effectively reduced, and the performance of the multi-hull ship is improved.
The invention designs a new single-step prediction control method to improve the anti-rolling performance, designs a finite time observer to improve the robustness and comprehensively improves the heave and pitch inhibition capability of the high-speed multi-hull vessel.
Drawings
FIG. 1 is a wave force disturbance diagram;
FIG. 2 is a wave moment disturbance diagram;
FIG. 3 is a graph of the pitch motion of a multihull vessel;
FIG. 4 is a heave motion profile for a multihull vessel;
FIG. 5 is a diagram of the actual and estimated states of heave motion;
fig. 6 is a diagram of the actual state and the estimated state of the pitching motion.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention aims to provide a single-step prediction control anti-rolling method of a high-speed multi-hull vessel, which can improve the stability of longitudinal motion of the high-speed multi-hull vessel.
A single-step prediction control anti-rolling method for a high-speed multi-hull ship specifically comprises the following steps:
s1, establishing a multi-hull ship coupled vertical motion model;
s2, performing mathematical transformation on the coupled vertical motion model to obtain a single-input single-output decoupling heave and pitch motion model;
s3, designing a finite time observer, and estimating the coupling term of the heave motion and the pitch motion of the multi-hull vessel on line to obtain the anti-rolling compensation amount;
s4, designing a single-step prediction control law, and solving the stabilization feedback control quantity of heave motion and pitch motion;
and S5, adding the compensation quantity and the feedback control quantity, and obtaining the control attack angle of the T-shaped wing and the wave suppression plate through the inverse operation of the control distribution matrix of the roll reduction attachment.
The single-step prediction control anti-rolling method for the high-speed multi-hull ship comprises the steps of performing mathematical transformation on two coupled vertical motion models to obtain a single-input single-output decoupling heave and pitch motion model;
designing a finite time observer, and estimating a coupling term of heave motion and pitch motion of the multi-hull vessel on line to obtain a roll reduction compensation quantity;
the single-step predictive control anti-rolling method for the high-speed multi-hull vessel comprises the following steps of designing a single-step predictive control law in the fourth step, and solving anti-rolling feedback control quantity of heave motion and pitch motion;
the single-step prediction control stabilization method for the high-speed multi-hull vessel comprises the fifth step of adding the compensation quantity and the feedback control quantity, and obtaining the control attack angle of the T-shaped wing and the wave suppression plate through inverse operation of the control distribution matrix of the stabilization appendage.
As shown in fig. 3, a longitudinal roll-reducing decoupling control scheme diagram of a multi-hull vessel is shown, and the specific flow is as follows:
step one, establishing a vertical motion model of multi-hull ship coupling;
due to the special hull construction of a multi-hulled vessel, the longitudinal motion of the multi-hulled vessel is not coupled with the transverse motion. Only heave and pitch motion need to be considered, and the T-shaped wings and the wave pressing plates generate restoring force and restoring moment to offset disturbing force and disturbing moment generated by sea waves. Assuming that the multihull vessel is sailing in an infinitely deep water area with a stable course and a constant speed, the sheets of the underwater part are sufficiently slender, and the motion of the hull caused by wave disturbance is slightly radial, without considering the influence of wind and flow on the motion. Under the action of sea wave disturbance, the system of the heave and pitch coupled motion equation of the multi-hull ship can be obtained as follows:
wherein: m is the mass of the multihull vessel; i is55Is the moment of inertia of the multihull vessel about the y-axis; a isiiAdditional mass and additional moment of inertia for the multihull vessel; biiThe damping coefficient of the system; c. CiiIs the coefficient of restitution force of the system; a isij,bij,cijCoupling term coefficient of force and moment; x is the number of3,x5Respectively representing heave displacement and pitch angle;
respectively representing heave velocity and pitch angular velocity;
respectively representing heave acceleration and pitch angular acceleration; fT-foil,MT-foilRespectively representing the restoring force and the restoring moment of the T-shaped wing; fflap,MflapRespectively representing the restoring force and the restoring moment provided by the press wave plate; fwave,MwaveRespectively representing the sea wave disturbance force and moment.
Step two, decoupling the longitudinal motion model to obtain decoupled heave motion and pitch motion models;
decoupling model of heave movement: order to
Representing heave displacement and heave velocity separately, for decoupled heave channel models as follows
Decoupling model of heave movement: order to
Representing heave displacement and heave velocity separately, expressed as the following form of input single output for decoupled heave channel model
Wherein
The amount of motion of the pitch channel coupled to the heave channel is used as a comprehensive uncertainty item of the decoupling heave channel; input force F ═ FT-foil+Fflap，FT-foilRespectively representing the lift of a T-shaped hydrofoil, FflapRespectively representing the force provided by the press plates, FwaveRespectively represent the disturbance force of the sea waves,
is the gain value.
Order to
Respectively representing pitch angle and pitch angular velocity
Wherein
Is the amount of motion that the heave channel couples to the pitch channel as a comprehensive uncertainty for the decoupled pitch motion model. Input torque M-MT-foil+Mflap，
Is the gain value.
Step three, regarding the coupling quantity of the pitching and the heaving as an uncertain quantity, and establishing a finite time observer of the decoupled pitching and heaving channel;
regarding the decoupled heave motion model, considering the amount of motion of pitch coupled to the heave channel and the amount of external random disturbance as uncertain quantities, introducing a dilated state in the decoupled heave channel
An extended state observer with non-uniform convergence in a finite time is designed, i.e.
In the formula: e.g. of the type1＝z1-x1；0＜a＜1；knMore than 0(n is 1,2,3) is an adjustable parameter; z is a radical of1,z2Is the system state x1,x2Estimate of z3Is a systematic lumped interference estimate, sig (·) is a sign function. Note em＝zm-xm(m＝1,2,3)，
The coupling control compensation of the heave channel is configured as follows:
uc-heave＝-z3(m+a33) (7)
for the decoupling pitch motion model, the motion quantity of heave coupled to the pitch channel and the external random disturbance quantity are regarded as uncertain quantities, and an expansion state is introduced into the decoupling pitch channel
Designed corresponding finite time extended state observer
In the formula: e.g. of the type11＝z11-x11；0＜＜1；knn> 0 (n-1, 2,3) is an adjustable parameter, z11,z22Is the system state x11,x22Estimated value of z33Is a systematic lumped interference estimate, sig (·) is a sign function.
The coupling control compensation of the pitching channel is configured as follows:
uc-pitch＝-z33.(I55+a55) (10)
designing a single-step prediction control law, and solving the stabilization feedback control quantity of the heave motion and the pitch motion; predicted control quantity of heave channel
Where 0.05, 0.255 and 1 × 10-6Then the control quantity of heave channel feedback
The feedback quantity u of the pitching channel can be obtained in the same way2:
Where 0.05, 0.255 and 1 × 10-6。
And step five, adding the compensation quantity and the feedback control quantity, and obtaining the control attack angle of the T-shaped wing and the wave suppression plate through inverse operation of a control distribution matrix of the roll reduction attachment.
Combining the calculated estimated coupling compensation uc-heave，uc-pitchVirtual integrated control quantity can be obtained
U1＝u1+uc-heave (14)
U2＝u2+uc-pitch (15)
By utilizing the control distribution matrix of the multi-hull ship anti-rolling appendage, the actual control attack angle of the T-shaped wing and the wave pressing plate can be obtained as follows:
wherein alpha is1Angle of attack, α, for press-formed sheets2Angle of attack, f, for T-shaped wingflapForce generated for pressing the corrugated board, fT-foilForce generated by the T-shaped wing, rho is sea water density, A is T-shaped hydrofoil area, CLIs the coefficient of lift of the hydrofoil, V is the velocity of the fluid relative to the hydrofoil, CL1Is the lift coefficient of the press wave plate, S is the effective area of the press wave plate, lflap、lT-foilRespectively is the arm of force of pressing unrestrained board and T type wing.
Simulation and experiments show that when the multi-hull ship sails at 14 knots and is subjected to wave-facing sailing, the encounter frequency is 1.3rad/s, the course angle is 180 degrees, the hull waterline is usually 48m, and the sea wave grade is 4. Fig. 1 and 2 show the disturbance of sea wave disturbance force and disturbance moment, and fig. 4 shows that the pitching amount of the multi-hull vessel is reduced by 50-60% when a controller is arranged, compared with the controller without the controller; FIG. 5 can see a 40% -50% reduction in heave by the controller compared to no controller; the stability of the system can be obviously improved, and the performance of the multi-hull ship is improved. In addition, as can be seen from fig. 6, the observer can well estimate the state of the system, and can be popularized and applied to control of other multi-hull vessels.
The above embodiments are only for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all the equivalent changes or modifications made according to the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.
In summary, the following steps: the invention discloses a single-step prediction control anti-rolling method for a high-speed multi-hull ship. And establishing a single-input single-output decoupling model of the heaving and pitching motions of the multi-hull vessel, and converting the heaving and pitching coupled motions into a comprehensive uncertain item. Aiming at decoupled heave motion and pitch motion models, designing a finite time observer to estimate a time-varying coupling term on line and giving a real-time compensation amount; and designing a new single-step prediction control law to give feedback control quantity. And (4) integrating the feedback control quantity and the compensation quantity, obtaining the attack angle of the T-shaped wing and the wave pressing plate through matrix inversion, and automatically adjusting the heave height and pitch angle change of the multi-hull ship. The control method provided by the invention is simple, easy to realize, strong in self-adaptation, and capable of effectively reducing the heaving amount of the multi-hull ship by 40-50% and the pitching amount by 50-60%.
Claims (6)
1. A single-step prediction control anti-rolling method of a high-speed multi-hull ship is characterized by comprising the following steps:
step one, establishing a vertical motion model of multi-hull ship coupling;
step two, carrying out mathematical transformation on the coupled vertical motion model to obtain a single-input single-output decoupling heave and pitch motion model;
designing a finite time observer, and estimating the coupling term of the heave motion and the pitch motion of the multi-hull vessel on line to obtain the anti-rolling compensation quantity;
designing a single-step prediction control law, and solving the stabilization feedback control quantity of the heave motion and the pitch motion;
and step five, adding the compensation quantity and the feedback control quantity, and obtaining the control attack angle of the T-shaped wing and the wave suppression plate through inverse operation of a control distribution matrix of the roll reduction attachment.
2. The single-step predictive control roll-reducing method for a high-speed multi-hull vessel according to claim 1, wherein the longitudinal motion model of the multi-hull vessel in the first step is:
obtaining a multihull ship pitching and heaving motion equation set by the Dalnbell theorem:
wherein: m is the mass of the multihull vessel; i is55Is the moment of inertia of the multihull vessel about the y-axis; a is33,a55Additional mass and additional moment of inertia for the multihull vessel; b33,b55The damping coefficient of the system; c. C33,c55Is the coefficient of restitution force of the system; a is35,a53,b35,b53,c35,c53Coupling term coefficient of force and moment; x is the number of3,x5Respectively representing heave displacement and pitch angle;
respectively representing the heave speedAnd pitch angular velocity;
respectively representing heave acceleration and pitch angular acceleration; fT-foil,MT-foilRespectively representing the lift force and the lifting moment of the T-shaped hydrofoil; fflap,MflapRespectively representing the force and moment provided by the press corrugated plate; fwave,MwaveRepresenting wave disturbance forces and moments, respectively.
3. The single-step predictive control roll-reducing method for a high-speed multi-hull vessel according to claim 1, wherein the second step is specifically:
decoupling model of heave movement: let x1＝x3,
Heave displacement and heave velocity are represented separately, and for the decoupled heave channel model, the following form is represented for input single output:
wherein
The amount of motion of the pitch channel coupled to the heave channel is used as a comprehensive uncertainty item of the decoupling heave channel; input force F ═ FT-foil+Fflap，FT-foilRespectively representing the lift of a T-shaped hydrofoil, FflapRespectively representing the force provided by the press plates, FwaveRespectively represent the disturbance force of the sea waves,
is the gain value;
a pitching motion decoupling model: order to
Respectively representing pitch angle and pitch angular velocity
Wherein
The amount of motion of a heave channel coupled to a pitch channel is used as a comprehensive uncertainty item of a decoupling pitch motion model; input torque M-MT-foil+Mflap，
Is the gain value.
4. The single-step predictive control roll-reducing method for a high-speed multi-hull vessel according to claim 1, wherein the third step is specifically: step three, regarding the coupling quantity of the pitching and the heaving as an uncertain quantity, and establishing a finite time observer of the decoupled pitching and heaving channel:
introduction of expansion state x in decoupled heave channel3＝Δf1Memory for recording
Expand into a new system
Designing an extended state observer with non-uniform convergence in a finite time, i.e.
In the formula: e.g. of the type1＝z1-x1；0＜a＜1；knMore than 0(n is 1,2,3) is adjustable ginsengCounting; z is a radical of1,z2Is the system state x1,x2Estimate of z3Is a systematic lumped interference estimate, sig (-) is a sign function, letm＝zm-xm(m＝1,2,3)
The coupling control compensation of the heave channel is configured as follows:
uc-heave＝-z3·(m+a33)
introducing an expansion state to the pitch motion model
Introducing an expansion state x to the pitch motion model33＝Δf2To and from
Can be expanded into a new system
Designed corresponding finite time extended state observer
In the formula: e.g. of the type11＝z11-x11；0＜＜1；knn> 0 (n-1, 2,3) is an adjustable parameter, z11,z22Is the system state x11,x22Estimate of z33Estimating system lumped interference; sig (·) is a sign function;
the coupling control compensation of the pitching channel is configured as follows:
uc-pitch＝-z33.(I55+a55)。
5. the single-step predictive control roll-reducing method for a high-speed multi-hull vessel according to claim 1, wherein said step four is specifically: adopting a single-step prediction controller as a roll-reducing attached body control system of the multi-hull vessel, taking the heave and pitch of the multi-hull vessel as control objects, and controlling the control objects by using the prediction controller;
predicted control quantity of heave channel
Where 0.05, 0.255 and 1 × 10-6Then the control quantity of heave channel feedback
The feedback quantity u of the pitching channel can be obtained in the same way2:
Where 0.05, 0.255 and 1 × 10-6。
6. The single-step predictive control roll-reducing method for a high-speed multi-hull vessel according to claim 1, wherein said step five is specifically: adding the compensation quantity and the feedback control quantity, and obtaining a control attack angle of the T-shaped wing and the wave pressing plate through inverse operation of a control distribution matrix of the anti-rolling appendage:
step 1, combining the calculated estimated coupling compensation amount uc-heaveVirtual comprehensive control quantity can be obtained;
U1＝u1+uc-heave
step 2, obtaining the virtual comprehensive control quantity U of the pitching channel by the same method2＝u2+uc-pitch；
Step 3, resolving the virtual control quantity through a stabilizing appendage control distribution matrix to obtain the actual control attack angle of the T-shaped wing and the wave pressing plate
Wherein alpha is1Angle of attack, α, for press-formed sheets2Angle of attack, f, for T-shaped wingflapForce generated for pressing the corrugated board, fT-foilForce generated by the T-shaped wing, rho is sea water density, A is T-shaped hydrofoil area, CLIs the coefficient of lift of the hydrofoil, V is the velocity of the fluid relative to the hydrofoil, CL1Is the lift coefficient of the press wave plate, S is the effective area of the press wave plate, lflap、lT-foilRespectively is the arm of force of pressing unrestrained board and T type wing.
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