CN105966566A

CN105966566A - Hydrofoil catamaran course transverse inclination control method and device

Info

Publication number: CN105966566A
Application number: CN201610343998.4A
Authority: CN
Inventors: 刘胜; 许长魁; 张兰勇; 王宇超
Original assignee: Harbin Engineering University
Current assignee: Harbin Engineering University
Priority date: 2016-05-23
Filing date: 2016-05-23
Publication date: 2016-09-28
Anticipated expiration: 2036-05-23
Also published as: CN105966566B

Abstract

The invention provides a method and device for controlling the course and heel of a hydrofoil catamaran, comprising: according to the dynamic characteristic parameters of the hydrofoil catamaran, the dynamic characteristic parameters of the servo system, external interference and servo system interference, obtain The hydrofoil catamaran course and heel dynamics model of the system dynamic characteristics; according to the hydrofoil catamaran course and heel dynamics model, the estimated value of external disturbance and the estimated value of servo system disturbance are obtained; according to the hydrofoil catamaran The ship course and heel dynamic model, the estimated value of the external disturbance and the estimated value of the servo system disturbance output a voltage control quantity for controlling the hydrofoil servo drive. The hydrofoil catamaran course and heel control method and device provided by the present invention improve the control accuracy and anti-interference ability of the hydrofoil servo system, and ensure that better force/moment and flap-tail wing angle can be calculated for use in Stabilize yaw and roll angles.

Description

Method and device for controlling course and heel of hydrofoil catamaran

技术领域technical field

本发明具体涉及一种水翼双体船航向横倾跟踪控制方法及装置。The invention specifically relates to a tracking control method and device for a course and heel of a hydrofoil catamaran.

背景技术Background technique

水翼双体船是一种集高速双体船和水翼船优点于一身的全新概念的复合型高性能船。由于水翼提供了将船体托出水面的升力，所以水翼船克服了兴波阻力和摩擦阻力对船舶速度的限制，降低了海浪对船体的冲击，较排水量型船有良好的适航性。但由于船体被水翼的升力抬升出水面，因此在高速航行过程中，对来自风浪流的干扰缺少自稳性和鲁棒性。剧烈摇摆运动，会对航行性能产生不可忽略的影响，直接影响到其适航性；导致所配备的设备产生故障，损坏船上所装载的货物，更有甚者能够危及船舶及船员的航行安全。良好的航向保持能力会提高运营效益，增强水翼双体船的安全性，降低系统故障发生率。因此水翼双体船的航向跟踪运动控制非常重要。Hydrofoil catamaran is a composite high-performance ship with a new concept that combines the advantages of high-speed catamaran and hydrofoil. Since the hydrofoil provides lift to lift the hull out of the water, the hydrofoil boat overcomes the limitation of wave resistance and frictional resistance on the speed of the ship, reduces the impact of waves on the hull, and has better seaworthiness than displacement ships. However, since the hull is lifted out of the water by the lift of the hydrofoil, it lacks stability and robustness against disturbances from wind, waves and currents during high-speed navigation. Violent rocking motion will have a non-negligible impact on navigation performance and directly affect its seaworthiness; it will cause equipment failure, damage to the cargo on board, and even endanger the navigation safety of the ship and crew. Good course keeping ability will improve operational efficiency, enhance the safety of hydrofoil catamaran, and reduce the incidence of system failure. Therefore, the course tracking motion control of hydrofoil catamaran is very important.

目前对水翼双体船航向横倾跟踪控制的研究仅停留在动力学分析的层面。现存的控制方法多为通过状态反馈等反馈形式计算出镇定艏摇角与横摇角所需的力/力矩和襟尾翼翼角，而水翼伺服系统的动态特性却不予考虑。实质上，水翼伺服系统作为水翼双体船航向横倾跟踪控制系统的快时变内环路，其控制方法的优劣对于襟尾翼能否完美跟踪计算出的指令翼角至关重要。At present, the research on the course and heel tracking control of hydrofoil catamaran only stays at the level of dynamic analysis. Most of the existing control methods are to calculate the force/moment and flap angle required to stabilize the yaw angle and roll angle through feedback forms such as state feedback, but the dynamic characteristics of the hydrofoil servo system are not considered. In essence, the hydrofoil servo system is the fast time-varying inner loop of the course and heel tracking control system of the hydrofoil catamaran. The pros and cons of its control method are crucial to whether the flap tail can perfectly track the calculated command wing angle.

发明内容Contents of the invention

针对现有技术中的缺陷，本发明提供的水翼双体船航向横倾控制方法及装置，通过在现有的水翼双体船航向横倾跟踪控制方法中加入水翼伺服系统的动态特性，提高了水翼伺服系统的控制精度和抗干扰能力，保证了能够计算出更优的力/力矩和襟尾翼翼角，用于镇定艏摇角与横摇角。In view of the defects in the prior art, the hydrofoil catamaran course and heel control method and device provided by the present invention, by adding the dynamic characteristics of the hydrofoil servo system to the existing hydrofoil catamaran course and heel tracking control method , which improves the control accuracy and anti-interference ability of the hydrofoil servo system, and ensures that a better force/moment and flap angle can be calculated to stabilize the yaw angle and roll angle.

第一方面，本发明提供的水翼双体船航向横倾控制方方法，包括：根据水翼双体船动态特性参数、伺服系统动态特性参数、外界干扰和伺服系统干扰，得到带有水翼伺服系统动态特性的水翼双体船航向横倾动力学模型；根据所述水翼双体船航向横倾动力学模型，得到外界干扰的估计值和伺服系统干扰的估计值；根据所述水翼双体船航向横倾动力学模型、所述外界干扰的估计值和所述伺服系统干扰的估计值，输出用于控制水翼伺服驱动器的电压控制量。In the first aspect, the hydrofoil catamaran course and heel control method provided by the present invention includes: according to the dynamic characteristic parameters of the hydrofoil catamaran, the dynamic characteristic parameters of the servo system, external interference and servo system interference, obtain The hydrofoil catamaran course and heel dynamics model of the dynamic characteristics of the servo system; according to the hydrofoil catamaran course and heel dynamics model, the estimated value of the external disturbance and the estimated value of the servo system disturbance are obtained; according to the hydrofoil double The dynamics model of the course and heel of the hull, the estimated value of the external disturbance and the estimated value of the servo system disturbance output a voltage control quantity for controlling the hydrofoil servo drive.

本发明实施例提供的水翼双体船航向横倾控制方法，通过在现有的水翼双体船航向横倾跟踪控制方法中加入水翼伺服系统的动态特性，提高了水翼伺服系统的控制精度和抗干扰能力，保证了能够计算出更优的力/力矩和襟尾翼翼角，用于镇定艏摇角与横摇角。The hydrofoil catamaran course and heel control method provided by the embodiment of the present invention improves the performance of the hydrofoil servo system by adding the dynamic characteristics of the hydrofoil servo system to the existing hydrofoil catamaran course and heel tracking control method. The control accuracy and anti-interference ability ensure that better force/moment and flap tail angle can be calculated to stabilize the yaw angle and roll angle.

优选地，所述根据水翼双体船航向横倾动力学模型，计算得到外界干扰的估计值和伺服系统干扰的估计值，包括：根据水翼双体船航向横倾动力学模型和外界干扰，通过水翼双体船模型不确定性与海浪干扰估计器，得到外界干扰的估计值；根据水翼双体船航向横倾动力学模型和伺服系统干扰，通过水翼伺服系统干扰估计器，得到伺服系统干扰的估计值。Preferably, the calculation of the estimated value of the external disturbance and the estimated value of the servo system disturbance according to the hydrofoil catamaran course and heel dynamic model includes: according to the hydrofoil catamaran course and heel dynamic model and the external disturbance, by The uncertainty of the hydrofoil catamaran model and the wave disturbance estimator are used to obtain the estimated value of external disturbance; according to the hydrofoil catamaran course and heel dynamic model and the servo system disturbance, the servo system is obtained through the hydrofoil servo system disturbance estimator. Estimated value of interference.

优选地，所述根据所述水翼双体船航向横倾动力学模型、所述外界干扰的估计值和所述伺服系统干扰的估计值，输出用于控制水翼伺服驱动器的电压控制量，包括：根据所述水翼双体船航向横倾动力学模型、所述外界干扰的估计值和所述伺服系统干扰的估计值，利用反演控制器，输出用于控制水翼伺服驱动器的电压控制量。Preferably, according to the hydrofoil catamaran course and heel dynamic model, the estimated value of the external disturbance and the estimated value of the servo system disturbance, outputting the voltage control quantity for controlling the hydrofoil servo drive includes : According to the hydrofoil catamaran course and heel dynamic model, the estimated value of the external disturbance and the estimated value of the servo system disturbance, using an inversion controller to output the voltage control amount for controlling the hydrofoil servo drive .

优选地，所述利用反演控制器，输出用于控制水翼伺服驱动器的电压控制量，包括：利用带有二阶低通滤波器的反演控制器，输出用于控制水翼伺服驱动器的电压控制量；所述反演控制器的反演过程的每一步会产生虚拟控制律，所述二阶低通滤波器用于产生所述虚拟控制率的微分，所述虚拟控制率的微分用于下一次反演过程。Preferably, using the inversion controller to output the voltage control quantity used to control the hydrofoil servo drive includes: using an inversion controller with a second-order low-pass filter to output the voltage used to control the hydrofoil servo drive Voltage control quantity; each step of the inversion process of the inversion controller will generate a virtual control law, and the second-order low-pass filter is used to generate the differential of the virtual control rate, and the differential of the virtual control rate is used for next inversion process.

优选地，所述水翼双体船动态特性参数包括：回转角速度r、横倾角速度p、横倾角φ、航向角ψ、水翼双体船高速翼航状态下的航速u₀；Preferably, the dynamic characteristic parameters of the hydrofoil catamaran include: rotational angular velocity r, heel angular velocity p, heel angle φ, heading angle ψ, and speed u ₀ of the hydrofoil catamaran under high-speed wing navigation state;

所述伺服系统动态特性参数包括：柱翼舵舵角δ_R、襟尾翼翼角δ_A、伺服系统电压信号输入矩阵u_V；The dynamic characteristic parameters of the servo system include: column wing rudder angle δ _R , flap tail angle δ _A , servo system voltage signal input matrix u _V ;

所述带有水翼伺服系统动态特性的水翼双体船航向横倾动力学模型为The hydrofoil catamaran course and heel dynamic model with the dynamic characteristics of the hydrofoil servo system is

${\overset{\cdot &Center Dot;}{x x}}_{11} = = {x x}_{22}$

${\overset{\cdot &Center Dot;}{x x}}_{22} = = {F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + {d d}_{11}$

${\overset{\cdot &Center Dot;}{x x}}_{33} = = {x x}_{44}$

${\overset{\cdot &Center Dot;}{x x}}_{44} = = {F f}_{22} (({u u}_{00},, {x x}_{44})) + + {\overset{&OverBar; &OverBar;}{B B}}_{22} (({x x}_{44})) {u u}_{V V} + + {d d}_{22}$

其中，x₁＝[φ ψ]^T，x₂＝[p r]^T，u_δ＝[δ_R δ_A]^T，x₃＝[δ_R δ_A]^T，d₁为外界干扰，d₂为伺服系统干扰，F₁(u₀,x₂)为水翼双体船水动力参数矩阵，F₂(u₀,x₄)为伺服系统描述函数矩阵，为水翼双体船航向横倾回路控制矩阵，为伺服系统回路控制矩阵；where x ₁ =[φ ψ] ^T , x ₂ =[pr] ^T , u _δ =[δ _R δ _A ] ^T , x ₃ =[δ _R δ _A ] ^T , d ₁ is the external disturbance, d ₂ is the servo system disturbance, F ₁ (u ₀ ,x ₂ ) is the hydrodynamic parameter matrix of the hydrofoil catamaran, F ₂ (u ₀ ,x ₄ ) is the servo system description function matrix, is the control matrix of the course and heel loop of the hydrofoil catamaran, is the servo system loop control matrix;

所述水翼双体船模型不确定性与海浪干扰估计器具有以下形式：The hydrofoil catamaran model uncertainty and wave disturbance estimator has the following form:

${\overset{^^}{d d}}_{11} = = {p p}_{1111} + + {l l}_{1111} {x x}_{22}$

${\overset{\cdot &Center Dot;}{p p}}_{1111} = = - - {l l}_{1111} (({F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + {\overset{^^}{d d}}_{11})) + + {\overset{^^}{\overset{\cdot &Center Dot;}{d d}}}_{11}$

${\overset{^^}{\overset{\cdot \cdot}{d d}}}_{11} = = {p p}_{1212} + + {l l}_{1212} {x x}_{22}$

${\overset{\cdot &Center Dot;}{p p}}_{1212} = = - - {l l}_{1212} (({F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + {\overset{^^}{d d}}_{11}))$

其中，为伺服系统干扰d₁的估计值，l₁₁、l₁₂、p₁₁和p₁₂为水翼双体船模型不确定性与海浪干扰估计器的相关增益；in, is the estimated value of servo system disturbance d ₁ , l ₁₁ , l ₁₂ , p ₁₁ and p ₁₂ are the relative gains of hydrofoil catamaran model uncertainty and wave disturbance estimator;

所述水翼伺服系统干扰估计器具有以下形式：The hydrofoil servo system disturbance estimator has the following form:

${\overset{^^}{d d}}_{22} = = {p p}_{21 twenty one} + + {l l}_{21 twenty one} {x x}_{33}$

${\overset{\cdot &Center Dot;}{p p}}_{21 twenty one} = = - - {l l}_{21 twenty one} (({F f}_{22} (({u u}_{00},, {x x}_{44})) + + {\overset{&OverBar; &OverBar;}{B B}}_{22} (({x x}_{44})) {u u}_{V V} + + {\overset{^^}{d d}}_{22})) + + {\overset{^^}{\overset{\cdot &Center Dot;}{d d}}}_{22}$

${\overset{^^}{\overset{\cdot &Center Dot;}{d d}}}_{22} = = {p p}_{22 twenty two} + + {l l}_{22 twenty two} {x x}_{33}$

${\overset{\cdot &Center Dot;}{p p}}_{22 twenty two} = = - - {l l}_{22 twenty two} (({F f}_{22} (({u u}_{00},, {x x}_{44})) + + {\overset{&OverBar; &OverBar;}{B B}}_{22} (({x x}_{44})) {u u}_{V V} + + {\overset{^^}{d d}}_{22}))$

其中，为外界干扰d₂的估计值,l₂₁、l₂₂、p₂₁、p₂₂为水翼伺服系统干扰估计器的相关增益；in, is the estimated value of external disturbance d ₂ , l ₂₁ , l ₂₂ , p ₂₁ , p ₂₂ are the relative gains of the hydrofoil servo system disturbance estimator;

所述水翼双体船模型不确定性与海浪干扰估计器和所述水翼伺服系统干扰估计器的约束条件为i＝1,2，j＝0,1,2。The constraints of the hydrofoil catamaran model uncertainty and the wave disturbance estimator and the hydrofoil servo system disturbance estimator are i=1,2, j=0,1,2.

第二方面，本发明提供的水翼双体船航向横倾控制方法装置，包括：模型建立模块，用于根据水翼双体船动态特性参数、伺服系统动态特性参数、外界干扰和伺服系统干扰，得到带有水翼伺服系统动态特性的水翼双体船航向横倾动力学模型；分析计算模块，用于根据所述水翼双体船航向横倾动力学模型，得到外界干扰的估计值和伺服系统干扰的估计值；控制量计算模块，用于根据所述水翼双体船航向横倾动力学模型、所述外界干扰的估计值和所述伺服系统干扰的估计值，输出用于控制水翼伺服驱动器的电压控制量。In the second aspect, the hydrofoil catamaran course and heel control method device provided by the present invention includes: a model building module, which is used to control the hydrofoil catamaran according to the dynamic characteristic parameters of the hydrofoil catamaran, the dynamic characteristic parameters of the servo system, external disturbances and servo system disturbances. , to obtain the hydrofoil catamaran course and heel dynamic model with the dynamic characteristics of the hydrofoil servo system; the analysis and calculation module is used to obtain the estimated value of the external disturbance and the servo Estimated value of system disturbance; control variable calculation module, used to output the hydrofoil for controlling the hydrofoil according to the hydrofoil catamaran course and heel dynamic model, the estimated value of the external disturbance and the estimated value of the servo system disturbance The voltage control amount of the servo drive.

优选地，所述分析计算模块，具体用于：根据水翼双体船航向横倾动力学模型和外界干扰，通过水翼双体船模型不确定性与海浪干扰估计器，得到外界干扰的估计值；根据水翼双体船航向横倾动力学模型和伺服系统干扰，通过水翼伺服系统干扰估计器，得到伺服系统干扰的估计值。Preferably, the analysis and calculation module is specifically used to: obtain the estimated value of the external disturbance through the uncertainty of the hydrofoil catamaran model and the wave disturbance estimator according to the course and heel dynamic model of the hydrofoil catamaran and the external disturbance ; According to the hydrofoil catamaran course and heel dynamic model and the servo system disturbance, the estimated value of the servo system disturbance is obtained through the hydrofoil servo system disturbance estimator.

优选地，所述控制量计算模块，具体用于根据所述水翼双体船航向横倾动力学模型、所述外界干扰的估计值和所述伺服系统干扰的估计值，利用反演控制器，输出用于控制水翼伺服驱动器的电压控制量。Preferably, the control quantity calculation module is specifically configured to use an inversion controller according to the hydrofoil catamaran course and heel dynamic model, the estimated value of the external disturbance and the estimated value of the servo system disturbance, The output is used to control the voltage control quantity of the hydrofoil servo drive.

${\overset{\cdot \cdot}{x x}}_{11} = = {x x}_{22}$

${\overset{\cdot \cdot}{x x}}_{22} = = {F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + {d d}_{11}$

${\overset{\cdot \cdot}{x x}}_{33} = = {x x}_{44}$

${\overset{\cdot \cdot}{x x}}_{44} = = {F f}_{22} (({u u}_{00},, {x x}_{44})) + + {\overset{&OverBar; &OverBar;}{B B}}_{22} (({x x}_{44})) {u u}_{V V} + + {d d}_{22}$

${\overset{^^}{d d}}_{11} = = {p p}_{1111} + + {l l}_{1111} {x x}_{22}$

${\overset{\cdot \cdot}{p p}}_{1111} = = - - {l l}_{1111} (({F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + {\overset{^^}{d d}}_{11})) + + {\overset{^^}{\overset{\cdot \cdot}{d d}}}_{11}$

${\overset{\cdot \cdot}{p p}}_{1212} = = - - {l l}_{1212} (({F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + {\overset{^^}{d d}}_{11}))$

${\overset{\cdot \cdot}{p p}}_{21 twenty one} = = - - {l l}_{21 twenty one} (({F f}_{22} (({u u}_{00},, {x x}_{44})) + + {\overset{&OverBar; &OverBar;}{B B}}_{22} (({x x}_{44})) {u u}_{V V} + + {\overset{^^}{d d}}_{22})) + + {\overset{^^}{\overset{\cdot \cdot}{d d}}}_{22}$

${\overset{^^}{\overset{\cdot \cdot}{d d}}}_{22} = = {p p}_{22 twenty two} + + {l l}_{22 twenty two} {x x}_{33}$

${\overset{\cdot \cdot}{p p}}_{22 twenty two} = = - - {l l}_{22 twenty two} (({F f}_{22} (({u u}_{00},, {x x}_{44})) + + {\overset{&OverBar; &OverBar;}{B B}}_{22} (({x x}_{44})) {u u}_{V V} + + {\overset{^^}{d d}}_{22}))$

附图说明Description of drawings

图1示出了本发明实施例所提供的一种水翼双体船航向横倾控制方法的流程图；Fig. 1 shows the flow chart of a kind of hydrofoil catamaran course and heel control method provided by the embodiment of the present invention;

图2示出了本发明实施例所提供的一种水翼双体船航向横倾控制方法的流程图；Fig. 2 shows a flow chart of a method for controlling the course and heel of a hydrofoil catamaran provided by an embodiment of the present invention;

图3示出了本发明实施例所提供的一种水翼双体船航向横倾控制装置的结构框图；Fig. 3 shows a structural block diagram of a hydrofoil catamaran course and heel control device provided by an embodiment of the present invention;

图4为水翼双体船回转角速度和回转角仿真曲线；Fig. 4 is the simulation curve of the hydrofoil catamaran turning angular velocity and turning angle;

图5为水翼双体船横倾角速度和横倾角仿真曲线。Fig. 5 is the simulation curve of heel angular velocity and heel angle of hydrofoil catamaran.

具体实施方式detailed description

下面将结合附图对本发明技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本发明的技术方案，因此只是作为示例，而不能以此来限制本发明的保护范围。Embodiments of the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, so they are only examples, and should not be used to limit the protection scope of the present invention.

需要注意的是，除非另有说明，本申请使用的技术术语或者科学术语应当为本发明所属领域技术人员所理解的通常意义。It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application shall have the usual meanings understood by those skilled in the art to which the present invention belongs.

为了提高水翼双体船航向横倾控制精度和抗干扰能力，本发明实施例提供了水翼双体船航向横倾控制方法，具体实施方式如图1所示，包括：In order to improve the control accuracy and anti-interference ability of the course and heel of the hydrofoil catamaran, the embodiment of the present invention provides a method for controlling the course and heel of the hydrofoil catamaran. The specific implementation is shown in Figure 1, including:

步骤S101，根据水翼双体船动态特性参数、伺服系统动态特性参数、外界干扰和伺服系统干扰，得到带有水翼伺服系统动态特性的水翼双体船航向横倾动力学模型。Step S101, according to the dynamic characteristic parameters of the hydrofoil catamaran, the dynamic characteristic parameters of the servo system, the external disturbance and the disturbance of the servo system, a hydrofoil catamaran course and heel dynamic model with the dynamic characteristics of the hydrofoil servo system is obtained.

步骤S102，根据所述水翼双体船航向横倾动力学模型，得到外界干扰的估计值和伺服系统干扰的估计值。Step S102, according to the dynamic model of the course and heel of the hydrofoil catamaran, an estimated value of external disturbance and an estimated value of servo system disturbance are obtained.

步骤S103，根据所述水翼双体船航向横倾动力学模型、所述外界干扰的估计值和所述伺服系统干扰的估计值，输出用于控制水翼伺服驱动器的电压控制量。Step S103, according to the dynamic model of the course and heel of the hydrofoil catamaran, the estimated value of the external disturbance and the estimated value of the servo system disturbance, outputting a voltage control amount for controlling the hydrofoil servo driver.

本发明实施例提供的方法，通过在现有的水翼双体船航向横倾跟踪控制方法中加入水翼伺服系统的动态特性，提高了水翼伺服系统的控制精度和抗干扰能力，保证了能够计算出更优的力/力矩和襟尾翼翼角，用于镇定艏摇角与横摇角。另外，将水翼双体船的航向横倾姿态控制落实到伺服系统层面，控制量直接为伺服系统电机驱动电压信号，对于水翼双体船的工程设计更具有现实意义。The method provided by the embodiment of the present invention improves the control accuracy and anti-interference ability of the hydrofoil servo system by adding the dynamic characteristics of the hydrofoil servo system to the existing hydrofoil catamaran heading and heel tracking control method, ensuring Better force/moment and flap-tail angles can be calculated for yaw and roll stabilization. In addition, the control of the course and heel attitude of the hydrofoil catamaran is implemented at the level of the servo system, and the control amount is directly the drive voltage signal of the servo system motor, which has more practical significance for the engineering design of the hydrofoil catamaran.

其中，水翼双体船动态特性参数包括：回转角速度r、横倾角速度p、横倾角φ、航向角ψ、水翼双体船高速翼航状态下的航速u₀。Among them, the dynamic characteristic parameters of the hydrofoil catamaran include: rotational angular velocity r, heel angular velocity p, heel angle φ, heading angle ψ, and speed u ₀ of the hydrofoil catamaran under high-speed wing navigation.

其中，所述伺服系统动态特性参数包括：柱翼舵舵角δ_R、襟尾翼翼角δ_A、伺服系统电压信号输入矩阵u_V。Wherein, the dynamic characteristic parameters of the servo system include: column wing rudder angle δ _R , flap tail angle δ _A , servo system voltage signal input matrix u _V .

带有水翼伺服系统动态特性的水翼双体船航向横倾动力学模型为The hydrofoil catamaran course and heel dynamic model with the dynamic characteristics of the hydrofoil servo system is

${\overset{\cdot \cdot}{x x}}_{11} = = {x x}_{22}$

${\overset{\cdot \cdot}{x x}}_{33} = = {x x}_{44}$

其中，x₁＝[φ ψ]^T，x₂＝[p r]^T，u_δ＝[δ_R δ_A]^T，d₁为水翼双体船模型受到的外界干扰例如海浪、海风和海流对船体和水翼系统造成的干扰力和干扰力矩。d₂为伺服系统中存在的传动干扰、摩擦、以及外界环境作用在襟翼和柱翼上的力和力矩。u₀为水翼双体船高速翼航状态下的航速，一般是一个固定的速度值。F₁(u₀,x₂)为水翼双体船水动力参数矩阵，F₂(u₀,x₄)为伺服系统描述函数矩阵，为水翼双体船航向横倾回路控制矩阵，为伺服系统回路控制矩阵。Among them, x ₁ =[φ ψ] ^T , x ₂ =[pr] ^T , u _δ =[δ _R δ _A ] ^T , d ₁ is the external disturbance to the hydrofoil catamaran model such as waves, sea wind and currents Disturbing forces and moments caused by hull and hydrofoil systems. d ₂ is the transmission disturbance, friction in the servo system, and the force and moment of the external environment acting on the flap and column wing. u ₀ is the speed of the hydrofoil catamaran under the high-speed wing navigation state, which is generally a fixed speed value. F ₁ (u ₀ ,x ₂ ) is the hydrodynamic parameter matrix of the hydrofoil catamaran, F ₂ (u ₀ ,x ₄ ) is the servo system description function matrix, is the control matrix of the course and heel loop of the hydrofoil catamaran, Control matrix for the servo system loop.

步骤S102具体包括：根据水翼双体船航向横倾动力学模型和外界干扰，通过水翼双体船模型不确定性与海浪干扰估计器，得到外界干扰的估计值；根据水翼双体船航向横倾动力学模型和伺服系统干扰，通过水翼伺服系统干扰估计器，得到伺服系统干扰的估计值。Step S102 specifically includes: according to the dynamic model of the course and heel of the hydrofoil catamaran and the external disturbance, the estimated value of the external disturbance is obtained through the uncertainty of the hydrofoil catamaran model and the wave disturbance estimator; The heel dynamics model and the servo system disturbance are used to obtain the estimated value of the servo system disturbance through the hydrofoil servo system disturbance estimator.

水翼双体船模型不确定性与海浪干扰估计器具有如下的形式：The hydrofoil catamaran model uncertainty and wave disturbance estimator has the following form:

${\overset{^^}{d d}}_{11} = = {p p}_{1111} + + {l l}_{1111} {x x}_{22}$

${\overset{\cdot \cdot}{p p}}_{1111} = = - - {l l}_{1111} (({F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + \overset{^^}{d d})) + + {\overset{^^}{\overset{\cdot &Center Dot;}{d d}}}_{11}$

${\overset{^^}{\overset{\cdot &Center Dot;}{d d}}}_{11} = = {p p}_{1212} + + {l l}_{1212} {x x}_{22}$

其中，为伺服系统干扰d₁的估计值，l₁₁、l₁₂、p₁₁和p₁₂为水翼双体船模型不确定性与海浪干扰估计器的相关增益。in, is the estimated value of servo system disturbance d ₁ , l ₁₁ , l ₁₂ , p ₁₁ and p ₁₂ are the relative gains of hydrofoil catamaran model uncertainty and wave disturbance estimator.

水翼伺服系统干扰估计器具有以下形式：The hydrofoil servo system disturbance estimator has the following form:

${\overset{\cdot \cdot}{p p}}_{21 twenty one} = = - - {l l}_{21 twenty one} (({F f}_{22} (({u u}_{00},, {x x}_{44})) + + {\overset{&OverBar; &OverBar;}{B B}}_{22} (({x x}_{44})) {u u}_{V V} + + {\overset{^^}{d d}}_{22})) + + {\overset{^^}{\overset{\cdot &Center Dot;}{d d}}}_{22}$

其中，为外界干扰d₂的估计值；in, is the estimated value of external disturbance d ₂ ;

水翼双体船模型不确定性与海浪干扰估计器和水翼伺服系统干扰估计器的约束条件为i＝1,2，j＝0,1,2，为相关范数的最大值，即范数的上界。传统的干扰估计器要求干扰有界且导数对时间的极限为0，而本发明实施例中的干扰估计器只要求干扰及其导数的范数有界，因此放宽了对外界干扰的约束条件，具有更强的实用性。The uncertainty of the hydrofoil catamaran model and the constraints of the wave disturbance estimator and the hydrofoil servo system disturbance estimator are i=1,2,j=0,1,2, is the maximum value of the correlation norm, that is, the upper bound of the norm. The traditional interference estimator requires the interference to be bounded and the limit of the derivative to time is 0, while the interference estimator in the embodiment of the present invention only requires the norm of the interference and its derivative to be bounded, thus relaxing the constraints on external interference, Has stronger practicability.

步骤S103具体包括：根据水翼双体船航向横倾动力学模型、外界干扰的估计值和伺服系统干扰的估计值，利用反演控制器，输出用于控制水翼伺服驱动器的电压控制量。Step S103 specifically includes: according to the dynamic model of the course and heel of the hydrofoil catamaran, the estimated value of the external disturbance and the estimated value of the servo system disturbance, using the inversion controller to output the voltage control value for controlling the hydrofoil servo drive.

上述步骤的具体实施方式如图2所示，图中扩展干扰器包括水翼双体船模型不确定性与海浪干扰估计器和水翼伺服系统干扰估计器。The specific implementation of the above steps is shown in Figure 2, in which the extended disruptor includes a hydrofoil catamaran model uncertainty and wave disturbance estimator and a hydrofoil servo system disturbance estimator.

为了增加了反演控制器的在线求解速度，本发明实施例在反演控制器内部加入了二阶低通滤波器，其原理是针对反演过程的每一步中产生的虚拟控制律，利用二阶低通滤波器产生虚拟控制律的微分。利用带有二阶低通滤波器的反演控制器，解决了传统反演控制由于控制系统阶数增加而产生的微分膨胀问题，利用二阶低通滤波器求解虚拟控制律的微分，增加了反演控制器的在线求解速度。该方法具体步骤如下：In order to increase the online solution speed of the inversion controller, the embodiment of the present invention adds a second-order low-pass filter inside the inversion controller. A first-order low-pass filter produces a derivative of the virtual control law. Using an inversion controller with a second-order low-pass filter solves the problem of differential expansion caused by the increase in the order of the control system in traditional inversion control. Using a second-order low-pass filter to solve the differential of the virtual control law increases the The online solution speed of the inversion controller. The specific steps of the method are as follows:

步骤一：根据水翼双体船航向横倾动力学模型，得到闭环系统的跟踪误差为e₁＝x₁-x_1d；根据跟踪误差，得到虚拟控制量为其中，k₁为正实数,x_1d为指令姿态角信息矩阵。Step 1: According to the hydrofoil catamaran course and heel dynamic model, the tracking error of the closed-loop system is obtained as e ₁ =x ₁ -x _1d ; according to the tracking error, the virtual control quantity is obtained as Among them, k ₁ is a positive real number, and x _1d is the command attitude angle information matrix.

利用二阶低通滤波器，得到β₁的估计值和β₁一阶导数的估计值，其中，二阶低通滤波器为Using the second-order low-pass filter, the estimated value of β ₁ and the estimated value of the first-order derivative of β ₁ are obtained, where the second-order low-pass filter is

${\overset{\cdot &Center Dot;}{β β}}_{11,, 11}^{c c} = = {ω ω}_{11} {β β}_{11,, 22}^{c c}$

${\overset{\cdot &Center Dot;}{β β}}_{11,, 22}^{c c} = = - - 22 {ζ ζ}_{11} {ω ω}_{11} {β β}_{11,, 22}^{c c} - - {ω ω}_{11}^{22} (({β β}_{11,, 11}^{c c} - - {β β}_{11}))$

其中,所述二阶低通滤波器的初值设置为t₀为系统初始时刻，为β₁的估计值，为β₁一阶导数的估计值，ζ₁为滤波器阻尼比，ω₁为滤波器自然频率。Wherein, the initial value of the second-order low-pass filter is set to t ₀ is the initial time of the system, is the estimated value _of β1, is the estimated value of the first derivative of β ₁ , ζ ₁ is the damping ratio of the filter, and ω ₁ is the natural frequency of the filter.

设计补偿跟踪误差系统为Design the tracking error compensation system as

v₁＝e₁-ξ₁ v ₁ =e ₁ -ξ ₁

${\overset{\cdot &Center Dot;}{ξ ξ}}_{11} = = - - {k k}_{11} {ξ ξ}_{11} + + (({β β}_{11,, 11}^{c c} - - {β β}_{11})) + + {ξ ξ}_{22}$

其中，ξ₁的初始值为ξ₁(t₀)＝0，ξ₂的定义在步骤二中给出。Wherein, the initial value of ξ ₁ is ξ ₁ (t ₀ )=0, and the definition of ξ ₂ is given in Step 2.

步骤二：根据水翼双体船航向横倾动力学模型，得到闭环系统的跟踪误差进而得到虚拟控制量为Step 2: Obtain the tracking error of the closed-loop system according to the hydrofoil catamaran course and heel dynamic model Then the virtual control quantity is obtained as

${β β}_{22} = = {\overset{&OverBar; &OverBar;}{B B}}_{11}^{- - 11} [[- - {k k}_{22} {e e}_{22} + + {β β}_{11,, 22}^{c c} - - {F f}_{11} (({u u}_{00},, {x x}_{22})) - - {v v}_{11} - - {\overset{^^}{d d}}_{11}]],,$

其中,k₂为正实数。Among them, k ₂ is a positive real number.

通过二阶低通滤波器，计算β₂的估计值和β₂一阶导数的估计值，其中，二阶低通滤波器为Calculate the estimated value of β2 and the estimated value of the first derivative of β2 through the _second -order low-pass filter, where the _second -order low-pass filter is

${\overset{\cdot &Center Dot;}{β β}}_{22,, 11}^{c c} = = {ω ω}_{22} {β β}_{22,, 22}^{c c}$

${\overset{\cdot \cdot}{β β}}_{22,, 22}^{c c} = = - - 22 {ξ ξ}_{22} {ω ω}_{22} {β β}_{22,, 22}^{c c} - - {ω ω}_{22}^{22} (({β β}_{22,, 11}^{c c} - - {β β}_{22}))$

其中,所述二阶低通滤波器的初值设置为t₀为系统初始时刻，为β₂的估计值，为β₂一阶导数的估计值，ζ₂为滤波器阻尼比，ω₂为滤波器自然频率。Wherein, the initial value of the second-order low-pass filter is set to t ₀ is the initial time of the system, is the estimated value of _β2 , is the estimated value of the first derivative of β ₂ , ζ ₂ is the damping ratio of the filter, and ω ₂ is the natural frequency of the filter.

设计跟踪误差补偿系统为The tracking error compensation system is designed as

v₂＝e₂-ξ₂ v ₂ =e ₂ -ξ ₂

${\overset{\cdot &Center Dot;}{ξ ξ}}_{22} = = - - {k k}_{22} {ξ ξ}_{22} + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({β β}_{22,, 11}^{c c} - - {β β}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} {ξ ξ}_{33}$

其中,ξ₂的初始值为ξ₂(t₀)＝0,ξ₃的定义在步骤三中给出。Among them, the initial value of ξ ₂ is ξ ₂ (t ₀ ) = 0, and the definition of ξ ₃ is given in step three.

步骤三：定义系统的跟踪误差为设计虚拟控制量为其中,k₃为正实数。Step 3: Define the tracking error of the system as The virtual control quantity is designed as Among them, k ₃ is a positive real number.

通过二阶低通滤波器，得到β₃的估计值和β₃一阶导数的估计值，其中，二阶低通滤波器为Through the second-order low-pass filter, the estimated value of β ₃ and the estimated value of the first-order derivative of β ₃ are obtained, where the second-order low-pass filter is

${\overset{\cdot &Center Dot;}{β β}}_{33,, 11}^{c c} = = {ω ω}_{33} {β β}_{33,, 22}^{c c}$

${\overset{\cdot &Center Dot;}{β β}}_{33,, 22}^{c c} = = - - 22 {ξ ξ}_{33} {ω ω}_{33} {β β}_{33,, 22}^{c c} - - {ω ω}_{33}^{22} (({β β}_{33,, 11}^{c c} - - {β β}_{33}))$

其中,所述二阶低通滤波器的初值设置为t₀为系统初始时刻，为β₃的估计值，为β₃一阶导数的估计值ζ₃为滤波器阻尼比，ω₃为滤波器自然频率。Wherein, the initial value of the second-order low-pass filter is set to t ₀ is the initial time of the system, is the estimated value _of β3, _ζ3 is the estimated value of the first derivative of β3, and _ζ3 is the filter damping ratio, and _ω3 is the natural frequency of the filter.

定义跟踪误差补偿系统Define Tracking Error Compensation System

v₃＝e₃-ξ₃ v ₃ =e ₃ -ξ ₃

${\overset{\cdot &Center Dot;}{ξ ξ}}_{33} = = - - {k k}_{33} {ξ ξ}_{33} + + (({β β}_{33,, 11}^{c c} - - {β β}_{33}))$

其中,ξ₃的初始值为ξ₃(t₀)＝0。Among them, the initial value of ξ ₃ is ξ ₃ (t ₀ )=0.

步骤四：定义系统的跟踪误差为:得到最终控制量为Step 4: Define the tracking error of the system as: The final control quantity is obtained as

${u u}_{V V} = = {\overset{&OverBar; &OverBar;}{B B}}_{22}^{- - 11} [[- - {k k}_{44} {e e}_{44} + + {β β}_{33,, 22}^{c c} - - {F f}_{22} (({x x}_{33},, {x x}_{44})) - - {v v}_{33} - - {\overset{^^}{d d}}_{22}]]$

其中，k₄为正实数，β₄为控制水翼伺服驱动器的电压控制量，即为伺服系统电压信号输入矩阵u_V。Among them, k ₄ is a positive real number, β ₄ is the voltage control quantity of the hydrofoil servo drive, that is, the input matrix u _V of the voltage signal of the servo system.

基于与上述水翼双体船航向横倾控制方法相同的构思，本发明实施例还提供了一种水翼双体船航向横倾控制装置，其结构如图3所示，包括：模型建立模块101，用于根据水翼双体船动态特性参数、伺服系统动态特性参数、外界干扰和伺服系统干扰，得到带有水翼伺服系统动态特性的水翼双体船航向横倾动力学模型；分析计算模块102，用于根据水翼双体船航向横倾动力学模型，得到外界干扰的估计值和伺服系统干扰的估计值；控制量计算模块103，用于根据水翼双体船航向横倾动力学模型、外界干扰的估计值和伺服系统干扰的估计值，输出用于控制水翼伺服驱动器的电压控制量。Based on the same idea as the method for controlling the course and heel of the above-mentioned hydrofoil catamaran, the embodiment of the present invention also provides a device for controlling the course and heel of the hydrofoil catamaran, the structure of which is shown in Figure 3, including: a model building module 101. According to the dynamic characteristic parameters of the hydrofoil catamaran, the dynamic characteristic parameters of the servo system, the external disturbance and the disturbance of the servo system, the dynamic model of the course and heel of the hydrofoil catamaran with the dynamic characteristics of the hydrofoil servo system is obtained; analysis and calculation Module 102 is used to obtain the estimated value of external disturbance and the estimated value of servo system interference according to the hydrofoil catamaran course and heel dynamic model; the control quantity calculation module 103 is used to obtain the estimated value of the hydrofoil catamaran course and heel dynamic model , the estimated value of the external disturbance and the estimated value of the servo system disturbance, outputting the voltage control quantity used to control the hydrofoil servo drive.

其中，分析计算模块102具体用于：根据水翼双体船航向横倾动力学模型和外界干扰，通过水翼双体船模型不确定性与海浪干扰估计器，得到外界干扰的估计值；根据水翼双体船航向横倾动力学模型和伺服系统干扰，通过水翼伺服系统干扰估计器，得到伺服系统干扰的估计值。Among them, the analysis and calculation module 102 is specifically used for: according to the hydrofoil catamaran course and heel dynamic model and external disturbance, through the uncertainty of the hydrofoil catamaran model and the wave disturbance estimator, obtain the estimated value of the external disturbance; The hydrofoil servo system disturbance estimator is used to obtain the estimated value of servo system disturbance through the hydrofoil servo system disturbance estimator.

其中，控制量计算模块103具体用于根据所述水翼双体船航向横倾动力学模型、所述外界干扰的估计值和所述伺服系统干扰的估计值，利用反演控制器，输出用于控制水翼伺服驱动器的电压控制量。Wherein, the control amount calculation module 103 is specifically configured to use an inversion controller to output an output for Control the voltage control amount of the hydrofoil servo drive.

其中，控制量计算模块103具体还用于利用带有二阶低通滤波器的反演控制器，输出用于控制水翼伺服驱动器的电压控制量；反演控制器的反演过程的每一步会产生虚拟控制律，二阶低通滤波器用于产生虚拟控制率的微分，虚拟控制率的微分用于下一次反演过程。利用带有二阶低通滤波器的反演控制器，解决了传统反演控制由于控制系统阶数增加而产生的微分膨胀问题，利用二阶低通滤波器求解虚拟控制律的微分，增加了反演控制器的在线求解速度。其具体实现方式可以参照上述实施例，重复之处不再赘述。Wherein, the control quantity calculation module 103 is specifically also used to utilize the inversion controller with a second-order low-pass filter to output the voltage control quantity used to control the hydrofoil servo drive; each step of the inversion process of the inversion controller A virtual control law is generated, a second-order low-pass filter is used to generate a derivative of the virtual control rate, and the differential of the virtual control rate is used in the next inversion process. Using an inversion controller with a second-order low-pass filter solves the problem of differential expansion caused by the increase in the order of the control system in traditional inversion control. Using a second-order low-pass filter to solve the differential of the virtual control law increases the The online solution speed of the inversion controller. For the specific implementation manner, reference may be made to the foregoing embodiments, and repeated descriptions will not be repeated.

其中，带有水翼伺服系统动态特性的水翼双体船航向横倾动力学模型为Among them, the hydrofoil catamaran course and heel dynamic model with the dynamic characteristics of the hydrofoil servo system is

${\overset{\cdot &Center Dot;}{x x}}_{11} = = {x x}_{22}$

${\overset{\cdot \cdot}{x x}}_{33} = = {x x}_{44}$

其中，x₁＝[φ ψ]^T，x₂＝[p r]^T，u_δ＝[δ_R δ_A]^T，d₁为水翼双体船模型受到的外界干扰例如海浪、海风和海流对船体和水翼系统造成的干扰力和干扰力矩。d₂为伺服系统中存在的传动干扰、摩擦、以及外界环境作用在襟翼和柱翼上的力和力矩。u₀为水翼双体船高速翼航状态下的航速，一般是一个固定的速度值；F₁(u₀,x₂)为水翼双体船水动力参数矩阵，F₂(u₀,x₄)为伺服系统描述函数矩阵，为水翼双体船航向横倾回路控制矩阵，为伺服系统回路控制矩阵。Among them, x ₁ =[φ ψ] ^T , x ₂ =[pr] ^T , u _δ =[δ _R δ _A ] ^T , d ₁ is the external disturbance to the hydrofoil catamaran model such as waves, sea wind and currents Disturbing forces and moments caused by hull and hydrofoil systems. d ₂ is the transmission disturbance, friction in the servo system, and the force and moment of the external environment acting on the flap and column wing. u ₀ is the speed of the hydrofoil catamaran under the high-speed wing navigation state, generally a fixed speed value; F ₁ (u ₀ ,x ₂ ) is the hydrodynamic parameter matrix of the hydrofoil catamaran, F ₂ (u ₀ , x ₄ ) is the servo system description function matrix, is the control matrix of the course and heel loop of the hydrofoil catamaran, Control matrix for the servo system loop.

其中，水翼双体船模型不确定性与海浪干扰估计器具有以下形式：Among them, the hydrofoil catamaran model uncertainty and wave disturbance estimator has the following form:

${\overset{^^}{d d}}_{11} = = {p p}_{1111} + + {l l}_{1111} {x x}_{22}$

${\overset{\cdot \cdot}{p p}}_{1111} = = - - {l l}_{1111} (({F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + {\overset{^^}{d d}}_{11})) + + {\overset{^^}{\overset{\cdot &Center Dot;}{d d}}}_{11}$

${\overset{\cdot \cdot}{p p}}_{1212} = = - - {l l}_{1212} (({F f}_{11} (({u u}_{00},, {x x}_{22})) + + {\overset{&OverBar; &OverBar;}{B B}}_{11} (({x x}_{22})) {u u}_{δ δ} + + {\overset{^^}{d d}}_{11})) \overset{^^}{d d}$

其中，水翼伺服系统干扰估计器具有以下形式：Among them, the hydrofoil servo system disturbance estimator has the following form:

其中，为外界干扰d₂的估计值,l₂₁、l₂₂、p₂₁、p₂₂为水翼伺服系统干扰估计器的相关增益。in, is the estimated value of external disturbance d ₂ , l ₂₁ , l ₂₂ , p ₂₁ , p ₂₂ are the relative gains of the hydrofoil servo system disturbance estimator.

其中，水翼双体船模型不确定性与海浪干扰估计器和所述水翼伺服系统干扰估计器的约束条件为i＝1,2，j＝0,1,2，为相关范数的最大值，即范数上界。传统的干扰估计器要求干扰有界且导数对时间的极限为0，而本发明实施例中的干扰估计器只要求干扰及其导数的范数有界，因此放宽了对外界干扰的约束条件，具有更强的实用性。Wherein, the constraint condition of hydrofoil catamaran model uncertainty and sea wave disturbance estimator and described hydrofoil servo system disturbance estimator is i=1,2,j=0,1,2, is the maximum value of the correlation norm, that is, the upper bound of the norm. The traditional interference estimator requires the interference to be bounded and the limit of the derivative to time is 0, while the interference estimator in the embodiment of the present invention only requires the norm of the interference and its derivative to be bounded, thus relaxing the constraints on external interference, Has stronger practicability.

对本发明实施例提供的方法进行仿真分析，图4和图5为部分仿真结果。图4为水翼双体船回转角速度和回转角仿真曲线，由于回转实验能够测试船舶对于快速航向改变运动的适应性，因此采用了回转角与回转角速度来描述仿真结果，其与航向角和航向角速度可以等同表征。图5为水翼双体船横倾角速度和横倾角仿真曲线。由图4、图5可以看出，本发明实施例提供的方法，可实现航向跟踪，并且航向改变迅速，通过控制襟尾翼与柱翼的伺服系统输入电压信号可实现，定常回转时，船舶横倾角为期望横倾角度。利用本发明实施例提供的方法，可实现水翼双体船沿期望的航向角和横倾角运行，从而实现机动性和安全性的综合最优。The method provided by the embodiment of the present invention is simulated and analyzed, and Fig. 4 and Fig. 5 are part of the simulation results. Fig. 4 is the simulation curve of the hydrofoil catamaran turning angle velocity and turning angle. Since the turning experiment can test the adaptability of the ship to the rapid course change motion, the turning angle and turning angle velocity are used to describe the simulation results, which are related to the course angle and heading Angular velocity can be equivalently characterized. Fig. 5 is the simulation curve of heel angular velocity and heel angle of hydrofoil catamaran. It can be seen from Fig. 4 and Fig. 5 that the method provided by the embodiment of the present invention can realize heading tracking, and the heading can be changed rapidly, which can be realized by controlling the input voltage signal of the servo system of the flap tail and the column wing. The dip angle is the desired heel angle. By using the method provided by the embodiment of the present invention, the hydrofoil catamaran can be realized to run along the desired course angle and heel angle, thereby realizing the comprehensive optimization of maneuverability and safety.

本发明实施例提供的装置，通过在现有的水翼双体船航向横倾跟踪控制方法中加入水翼伺服系统的动态特性，提高了水翼伺服系统的控制精度和抗干扰能力，保证了能够计算出更优的力/力矩和襟尾翼翼角，用于镇定艏摇角与横摇角。The device provided by the embodiment of the present invention improves the control accuracy and anti-interference ability of the hydrofoil servo system by adding the dynamic characteristics of the hydrofoil servo system to the existing hydrofoil catamaran heading and heel tracking control method, ensuring Better force/moment and flap-tail angles can be calculated for yaw and roll stabilization.

最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围，其均应涵盖在本发明的权利要求和说明书的范围当中。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. All of them should be covered by the scope of the claims and description of the present invention.

Claims

1. A hydrofoil catamaran course heeling control method is characterized by comprising the following steps:

obtaining a hydrofoil catamaran course heeling dynamic model with hydrofoil servo system dynamic characteristics according to the hydrofoil catamaran dynamic characteristic parameters, the servo system dynamic characteristic parameters, external interference and the servo system interference;

obtaining an estimated value of external interference and an estimated value of servo system interference according to the hydrofoil catamaran course heeling dynamic model;

and outputting a voltage control quantity for controlling a hydrofoil servo driver according to the hydrofoil catamaran course heeling dynamic model, the estimation value of the external interference and the estimation value of the servo system interference.

2. The method according to claim 1, wherein the calculating an estimated value of the external disturbance and an estimated value of the servo system disturbance according to the hydrofoil catamaran course heeling dynamics model comprises:

obtaining an estimated value of external interference through a hydrofoil catamaran model uncertainty and sea wave interference estimator according to a hydrofoil catamaran course heeling dynamic model and the external interference;

and obtaining an estimated value of the servo system interference through a hydrofoil servo system interference estimator according to the hydrofoil catamaran course heeling dynamic model and the servo system interference.

3. The method according to claim 2, wherein outputting a voltage control quantity for controlling a hydrofoil servo drive according to the hydrofoil catamaran course roll dynamics model, the estimated value of the external disturbance and the estimated value of the servo system disturbance comprises: and outputting a voltage control quantity for controlling a hydrofoil servo driver by using an inversion controller according to the hydrofoil catamaran course heeling dynamics model, the estimation value of the external interference and the estimation value of the servo system interference.

4. The method of claim 3, wherein outputting a voltage control quantity for controlling a hydrofoil servo driver using an inversion controller comprises: outputting a voltage control quantity for controlling a hydrofoil servo driver by using an inversion controller with a second-order low-pass filter; and generating a virtual control law at each step of the inversion process of the inversion controller, wherein the second-order low-pass filter is used for generating the differential of the virtual control rate, and the differential of the virtual control rate is used for the next inversion process.

5. The method according to any one of claims 1 to 4,

the dynamic characteristic parameters of the hydrofoil catamaran comprise: slewing angular velocity r, transverse inclination angle velocity p, transverse inclination angle phi, course angle psi, sailing speed u of hydrofoil catamaran in high-speed wing navigation state₀；

The servo system dynamic characteristic parameters comprise: rudder angle of column wing rudder_RWing angle of front fly tail wing_AServo system voltage signal input matrix u_V；

The hydrofoil catamaran course heeling dynamic model with the hydrofoil servo system dynamic characteristics is

{\overset{\cdot}{x}}_{1} = x_{2}

{\overset{\cdot}{x}}_{2} = F_{1} (u_{0}, x_{2}) + {\overset{&OverBar;}{B}}_{1} (x_{2}) u_{δ} + d_{1}

{\overset{\cdot}{x}}_{3} = x_{4}

{\overset{\cdot}{x}}_{4} = F_{2} (u_{0}, x_{4}) + {\overset{&OverBar;}{B}}_{2} (x_{4}) u_{V} + d_{2}

Wherein x is₁＝[φ ψ]^T，x₂＝[p r]^T，u＝[_R _A]^T，x₃＝[_R _A]^T，d₁For external interference, d₂For servo system disturbances, F₁(u₀,x₂) Is a hydrofoil catamaran hydrodynamic parameter matrix, F₂(u₀,x₄) The function matrix is described for the servo system,is a hydrofoil catamaran course heeling loop control matrix,a servo system loop control matrix;

the hydrofoil catamaran model uncertainty and sea wave disturbance estimator has the following form:

{\hat{d}}_{1} = p_{11} + l_{11} x_{2}

{\overset{\cdot}{p}}_{11} = - l_{11} (F_{1} (u_{0}, x_{2}) + {\overset{&OverBar;}{B}}_{1} (x_{2}) u_{δ} + {\hat{d}}_{1}) + {\hat{\overset{\cdot}{d}}}_{1}

{\hat{\overset{\cdot}{d}}}_{1} = p_{12} + l_{12} x_{2}

{\overset{\cdot}{p}}_{12} = - l_{12} (F_{1} (u_{0}, x_{2}) + {\overset{&OverBar;}{B}}_{1} (x_{2}) u_{δ} + {\hat{d}}_{1})

wherein,disturbance d for servo system₁Estimated value of l₁₁、l₁₂、p₁₁And p₁₂Obtaining the relative gain of the uncertainty of the hydrofoil catamaran model and the wave interference estimator;

the hydrofoil servo system disturbance estimator has the form:

{\hat{d}}_{2} = p_{21} + l_{21} x_{3}

{\overset{\cdot}{p}}_{21} = - l_{21} (F_{2} (u_{0}, x_{4}) + {\overset{&OverBar;}{B}}_{2} (x_{4}) u_{V} + {\hat{d}}_{2}) + {\hat{\overset{\cdot}{d}}}_{2}

{\hat{\overset{\cdot}{d}}}_{2} = p_{22} + l_{22} x_{3}

{\overset{\cdot}{p}}_{22} = - l_{22} (F_{2} (u_{0}, x_{4}) + {\overset{&OverBar;}{B}}_{2} (x_{4}) u_{V} + {\hat{d}}_{2})

wherein,for external interference d₂Estimated value of l₂₁、l₂₂、p₂₁、p₂₂The relative gain of the hydrofoil servo system interference estimator;

the constraint conditions of the hydrofoil catamaran model uncertainty and sea wave interference estimator and the hydrofoil servo system interference estimator arei＝1,2，j＝0,1,2。

6. A hydrofoil catamaran course heeling control device is characterized by comprising:

the model establishing module is used for obtaining a hydrofoil catamaran course heeling dynamic model with hydrofoil servo system dynamic characteristics according to the hydrofoil catamaran dynamic characteristic parameters, the servo system dynamic characteristic parameters, external interference and the servo system interference;

the analysis and calculation module is used for obtaining an estimated value of external interference and an estimated value of servo system interference according to the hydrofoil catamaran course heeling dynamics model;

and the control quantity calculation module is used for outputting a voltage control quantity for controlling the hydrofoil servo driver according to the hydrofoil catamaran course heeling dynamic model, the external interference estimation value and the servo system interference estimation value.

7. The apparatus of claim 6, wherein the analysis computation module is specifically configured to:

8. The device according to claim 7, wherein the control quantity calculation module is specifically configured to output a voltage control quantity for controlling the hydrofoil servo driver by using an inversion controller according to the hydrofoil catamaran course heeling dynamics model, the estimated value of the external disturbance and the estimated value of the servo system disturbance.

9. The apparatus of claim 8, wherein the outputting a voltage control quantity for controlling the hydrofoil servo driver using the inversion controller comprises: outputting a voltage control quantity for controlling a hydrofoil servo driver by using an inversion controller with a second-order low-pass filter; and generating a virtual control law at each step of the inversion process of the inversion controller, wherein the second-order low-pass filter is used for generating the differential of the virtual control rate, and the differential of the virtual control rate is used for the next inversion process.

10. The apparatus according to any one of claims 6 to 9,

{\overset{\cdot}{x}}_{1} = x_{2}

{\overset{\cdot}{x}}_{2} = F_{1} (u_{0}, x_{2}) + \overset{&OverBar;}{B_{1}} (x_{2}) u_{δ} + d_{1}

{\overset{\cdot}{x}}_{3} = x_{4}

{\overset{\cdot}{x}}_{4} = F_{2} (u_{0}, x_{4}) + {\overset{&OverBar;}{B}}_{2} (x_{4}) u_{V} + d_{2}

{\hat{d}}_{1} = p_{11} + l_{11} x_{2}

{\overset{\cdot}{p}}_{11} = - l_{11} (F_{1} (u_{0}, x_{2}) + {\overset{&OverBar;}{B}}_{1} (x_{2}) u_{δ} + {\hat{d}}_{1}) + {\hat{\overset{\cdot}{d}}}_{1}

{\hat{\overset{\cdot}{d}}}_{1} = p_{12} + l_{12} x_{2}

{\overset{\cdot}{p}}_{12} = - l_{12} (F_{1} (u_{0}, x_{2}) + {\overset{&OverBar;}{B}}_{1} (x_{2}) u_{δ} + {\hat{d}}_{1})

the hydrofoil servo system disturbance estimator has the form:

{\hat{d}}_{2} = p_{21} + l_{21} x_{3}

{\overset{\cdot}{p}}_{21} = - l_{21} (F_{2} (u_{0}, x_{4}) + {\overset{&OverBar;}{B}}_{2} (x_{4}) u_{V} + {\hat{d}}_{2}) + {\hat{\overset{\cdot}{d}}}_{2}

{\hat{\overset{\cdot}{d}}}_{2} = p_{22} + l_{22} x_{3}

{\overset{\cdot}{p}}_{22} = - l_{22} (F_{2} (u_{0}, x_{4}) + {\overset{&OverBar;}{B}}_{2} (x_{4}) u_{V} + {\hat{d}}_{2})