CN118144943A - Ship with serial robot device and self-balancing method - Google Patents
Ship with serial robot device and self-balancing method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000006073 displacement reaction Methods 0.000 claims abstract description 80
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 24
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- 230000036544 posture Effects 0.000 description 108
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- 239000013535 sea water Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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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
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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
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
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Abstract
The invention provides a ship with a serial robot device and a self-balancing method, wherein the serial robot device comprises a first gesture adjusting motor, a second gesture adjusting motor, a controller, a gesture sensor, a first angular displacement sensor and a second angular displacement sensor; the output end of the first attitude adjusting motor is in driving connection with the second attitude adjusting motor, and the output end of the second attitude adjusting motor is in driving connection with the main ship; the controller is configured to calculate an expected state of the main vessel in a balanced state according to the attitude of the main vessel, the angular displacement of the first attitude adjusting motor and the angular displacement of the second attitude adjusting motor, and establish a self-balancing dynamics model of the vessel with the serial robot device, the self-balancing dynamics model of the vessel including the acting force of sea waves on the vessel, and determine the control amounts of the first attitude adjusting motor and the second attitude adjusting motor satisfying the expected state based on the self-balancing dynamics model of the vessel.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a ship with serial robot devices and a self-balancing method.
Background
The ship can incline to a certain direction on the water surface due to external factors such as stormy waves and the like, and the reason is that: as shown in fig. 1, the ship is in a forward floating state in still water, and the center of gravity G and the center of buoyancy B of the ship are on the same straight line, and are equal in size and opposite in direction, so that the ship is in a stable state. As shown in fig. 2, when one side of the ship is subject to wave motion due to wind and wave, such as left water level rise, draft area increase, buoyancy increase, increased buoyancy F1 or the side is pushed by wind force F2, the center of buoyancy B of the ship is deviated to B 1, and the hull is inclined to the right side. Meanwhile, the reverse moment M generated by buoyancy enables the ship body to move back to the positive direction, the ship body shakes left and right, and the front and back directions are the same. The riding comfort of passengers in a ship is greatly negatively affected, and the safety of passengers, carried equipment and cargoes is even affected seriously.
To solve this problem, it is common practice to provide raised bilge keels, fins on the bilge of the hull to generate turbulence when moving up and down, thereby suppressing the roll of the ship, but the effect of roll reduction is more limited on larger ships. The patent document CN219295647U discloses a common technology of stabilizing the existing ship, namely, the water in each water storage cabin in the cabin is pumped and discharged and driven, so that the gravity center position of the ship is changed, and the ship body swing caused by waves is overcome. However, this technique has a disadvantage in that the efficiency of pumping and driving the water in the water storage tank is slow, and it is difficult to cope with the case where the frequency of waves is large.
With the continuous development of science and technology, robots are increasingly widely used in industrial production, life, scientific research and other aspects. In the field of robotics, robots can be generally divided into two types, namely serial robots and parallel robots, and the serial robots are typical industrial or laboratory robots, and are characterized in that each joint and each actuator (such as a mechanical arm) are sequentially connected according to a certain sequence, so that the robot has a larger moving range, better flexibility and higher precision and efficiency than the existing balance mode.
Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a vessel with a tandem robot arrangement and a self-balancing method.
To solve the technical problem, the present application provides a ship having a serial robot device, comprising: a main vessel, an auxiliary vessel and a tandem robot device; the main vessel having a bottom adapted to be submerged below the water surface; the auxiliary ship comprises a plurality of sub-ship bodies, wherein the sub-ship bodies are connected through connecting pieces to form a reference platform, the sub-ship bodies are positioned on two sides of the main ship, and the supporting force provided by the auxiliary ship to the main ship is smaller than the gravity of the main ship, namely, the main ship part is positioned below the water surface; the tandem robot apparatus includes: the device comprises a first gesture adjusting motor, a second gesture adjusting motor, a controller, a gesture sensor, a first angular displacement sensor and a second angular displacement sensor; the attitude sensor is arranged on the main ship and used for collecting the attitude of the main ship, the first angular displacement sensor is arranged on the first attitude adjusting motor and used for collecting the angular displacement of the first attitude adjusting motor, and the second angular displacement sensor is arranged on the second attitude adjusting motor and used for collecting the angular displacement of the second attitude adjusting motor; the first attitude adjusting motor is fixedly connected to the auxiliary ship, the output end of the first attitude adjusting motor is in driving connection with the second attitude adjusting motor, the output end of the second attitude adjusting motor is in driving connection with the main ship, and the auxiliary ship is used as a reference platform to perform motion compensation and attitude correction on the main ship; the controller is configured to calculate an expected state in the balance state of the main ship according to the posture of the main ship, the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor, establish a ship self-balancing dynamics model with a serial robot device, the ship self-balancing dynamics model comprises acting force of sea waves on the ship, determine control amounts of the first posture adjusting motor and the second posture adjusting motor which meet the expected state based on the ship self-balancing dynamics model, and control the first posture adjusting motor and the second posture adjusting motor to move according to the control amounts.
Optionally, the tandem robot apparatus further includes: the device comprises an upper platform and a lower platform, wherein a first posture adjusting motor and a second posture adjusting motor are positioned between the upper platform and the lower platform, the first posture adjusting motor is fixed on the lower platform, the lower platform is fixedly connected with the connecting piece, and the upper platform is fixedly connected with the main ship.
Optionally, the first posture adjusting motor and the second posture adjusting motor are on the same plane, and the axes of the output ends are mutually perpendicular.
Optionally, the connector is a collapsible or telescopic structure for adjusting the position of the sub-hull.
Optionally, the auxiliary vessel is designed to float partially above the water surface, and the plurality of sub-vessels are located on both sides of the main vessel; or the auxiliary vessels are designed to be located entirely below the water surface, and the sub-vessels are located on both sides below the main vessel.
Optionally, the primary vessel and/or the secondary vessel is provided with propulsion means.
Optionally, the buoyancy provided by the auxiliary ship is greater than or equal to the gravity of the auxiliary ship.
Optionally, calculating the desired state of the main vessel in balance state according to the attitude of the main vessel, the angular displacement of the first attitude adjustment motor, and the angular displacement of the second attitude adjustment motor includes: calculating output torque of the first posture adjusting motor and the second posture adjusting motor according to the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor; inputting output torque of the first gesture adjusting motor and output torque of the second gesture adjusting motor into a non-linear dynamics model with double-shaft decoupling to calculate a roll angle and a pitch angle of the whole ship; calculating the posture of the auxiliary ship according to the posture of the main ship and the roll angle and the pitch angle of the whole ship; and determining the expected state of the main ship in the balance state according to the posture of the auxiliary ship.
Alternatively, the non-linear dynamics model of biaxial decoupling can be expressed as:
wherein: j α(α)、Jβ (beta) is the rotational inertia of the first posture adjusting motor and the second posture adjusting motor respectively, The gravity term G α(α)、Gβ (beta) is a coriolis force and centrifugal force matrix of the first posture adjusting motor and the second posture adjusting motor respectively, T α、Tβ is an output moment of the first posture adjusting motor and the second posture adjusting motor, and Γ d is acting force of sea waves on the ship.
Alternatively, the self-balancing dynamics model of the ship can be expressed as:
wherein q= [ q 1,q2 ] respectively represents the angular displacement of the first posture adjustment motor and the second posture adjustment motor, M q (q) is the inertia matrix of the ship, For the coriolis force and centrifugal force matrix of the ship, G q (q) is a gravity term, F q＝[Fq1,Fq2, representing the driving forces of a first attitude adjustment motor and a second attitude adjustment motor, J d is a velocity jacobian matrix of the first attitude adjustment motor and the second attitude adjustment motor mapped to the main ship, and Γ d represents the acting force of the ocean wave on the ship.
Optionally, determining the control amounts of the first and second attitude adjustment motors that satisfy the desired state based on the vessel self-balancing dynamics model includes:
establishing a nonlinear dynamic state space equation of a ship self-balancing active stabilization system;
Constructing a ship attitude stabilization control cost function, wherein the ship attitude stabilization control cost function comprises the difference between a ship expected state and a ship predicted future time actual state and the difference between the predicted future time control quantity of the first attitude adjusting motor and the second attitude adjusting motor and the previous time actual control quantity; constructing constraint conditions, wherein the constraint conditions comprise minimum ship attitude stabilization control cost functions, displacement limits, speed limits and driving force limits of a first attitude adjusting motor and a second attitude adjusting motor;
solving the nonlinear dynamics state space equation in each sampling period based on the constraint condition to obtain an optimal control sequence in a control time domain;
And taking the first element of the optimal control sequence as the control quantity.
In order to solve the technical problem, the application provides a self-balancing method of a ship with serial robot devices, which comprises the following steps: acquiring the attitude of a main ship, the angular displacement of a first attitude adjusting motor and the angular displacement of a second attitude adjusting motor; calculating an expected state of the main ship in a balanced state according to the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor of the main ship; establishing a self-balancing dynamics model of the ship with the serial robot device, wherein the self-balancing dynamics model of the ship comprises acting force of sea waves on the ship; determining control amounts of a first attitude adjusting motor and a second attitude adjusting motor which meet the expected state based on the ship self-balancing dynamics model; and controlling the first gesture adjusting motor and the second gesture adjusting motor to move according to the control quantity, and performing motion compensation and gesture correction on the main ship by taking the auxiliary ship as a reference platform. Optionally, calculating the desired state of the main vessel in balance state according to the attitude of the main vessel, the angular displacement of the first attitude adjustment motor, and the angular displacement of the second attitude adjustment motor includes: calculating output torque of the first posture adjusting motor and the second posture adjusting motor according to the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor; inputting output torque of the first gesture adjusting motor and output torque of the second gesture adjusting motor into a non-linear dynamics model with double-shaft decoupling to calculate a roll angle and a pitch angle of the whole ship; calculating the posture of the auxiliary ship according to the posture of the main ship and the roll angle and the pitch angle of the whole ship; and determining the expected state of the main ship in the balance state according to the posture of the auxiliary ship.
Alternatively, the non-linear dynamics model of biaxial decoupling can be expressed as:
wherein: j α(α)、Jβ (beta) is the rotational inertia of the first posture adjusting motor and the second posture adjusting motor respectively, The gravity term G α(α)、Gβ (beta) is a coriolis force and centrifugal force matrix of the first posture adjusting motor and the second posture adjusting motor respectively, T α、Tβ is an output moment of the first posture adjusting motor and the second posture adjusting motor, and Γ d is acting force of sea waves on the ship.
Optionally, determining the control amounts of the first and second attitude adjustment motors that satisfy the desired state based on the vessel self-balancing dynamics model includes: establishing a nonlinear dynamic state space equation of a ship self-balancing active stabilization system; constructing a ship attitude stabilization control cost function, wherein the ship attitude stabilization control cost function comprises the difference between a ship expected state and a ship predicted future time actual state and the difference between the predicted future time control quantity of the first attitude adjusting motor and the second attitude adjusting motor and the previous time actual control quantity; constructing constraint conditions, wherein the constraint conditions comprise minimum ship attitude stabilization control cost functions, displacement limits, speed limits and driving force limits of a first attitude adjusting motor and a second attitude adjusting motor; solving the nonlinear dynamics state space equation in each sampling period based on the constraint condition to obtain an optimal control sequence in a control time domain; and taking the first element of the optimal control sequence as the control quantity.
Alternatively, the self-balancing dynamics model of the ship can be expressed as:
wherein q= [ q 1,q2 ] respectively represents the angular displacement of the first posture adjustment motor and the second posture adjustment motor, M q (q) is the inertia matrix of the ship, For the coriolis force and centrifugal force matrix of the ship, G q (q) is a gravity term, F q＝[Fq1,Fq2, representing the driving forces of a first attitude adjustment motor and a second attitude adjustment motor, J d is a velocity jacobian matrix of the first attitude adjustment motor and the second attitude adjustment motor mapped to the main ship, and Γ d represents the acting force of the ocean wave on the ship.
Optionally, the force of the ocean wave on the vessel is a first order wave force comprising a plurality of sets of nonlinear fundamental wave forces of different encounter frequencies and phases.
Optionally, the first order wave force expression is:
Where i represents the i-th direction, a w is the amplitude, ω e is the encounter frequency, α i＝arg[Fi(ωe) ], χ is the wave direction angle, F i(ωe) is the wave force amplitude response factor when the vessel is in the top wave (χ=180°), i.e.:
Wherein the method comprises the steps of Is wave height.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the application, force is applied between the main ship and the auxiliary ship through each motor of the serial robot device, and the posture of the main ship is adjusted by means of pitching and rolling of the auxiliary ship, so that the posture adjustment of the main ship is realized, the gravity center position of the whole ship is changed, and the stability of the main ship is realized. Compared with the prior art, the adjusting mode is more rapid and efficient, and can be suitable for various small-sized and medium-sized ships and special large-sized ships.
2. According to the application, nonlinear factors are considered, a nonlinear dynamic state equation of the serial robot device and the ship is established, physical constraints of the first gesture adjusting motor and the second gesture adjusting motor are considered in the control process, good gesture tracking precision and instantaneity can be maintained under the condition of parameter change or external disturbance, good stability and robustness are achieved, and riding comfort can be effectively improved.
3. According to the application, the gesture sensor is prevented from being installed on the auxiliary ship by using the kinematic model of the serial robot device, so that the stability and the reliability are effectively improved.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic view of a hull on calm water;
FIG. 2 is a schematic view of a hull affected by wind and waves;
FIG. 3 is a front view of a vessel with a tandem robotic self-balancing device of the present invention;
FIG. 4 is a perspective view of a vessel having a serial robotic self-balancing device in accordance with the present invention;
FIG. 5 is a rear view of a vessel having a tandem robotic self-balancing device of the present invention;
FIG. 6 is a front view of another vessel with an in-line robotic self-balancing device of the present invention;
FIG. 7 is a perspective view of another vessel having a serial robotic self-balancing device of the present invention;
FIG. 8 is a rear view of another vessel having a tandem robotic self-balancing device of the present invention;
FIG. 9 is a schematic diagram of a configuration of a serial robot self-balancing device;
FIG. 10 is a schematic diagram of an installation of a serial robot self-balancing device;
FIGS. 11 and 12 are schematic diagrams of the operation of the present application;
FIG. 13 is a diagram of a system model of the present invention;
FIG. 14 is an overall block diagram of a control algorithm of the present invention;
FIG. 15 is a block diagram of a nonlinear model predictive control algorithm in accordance with the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1
As shown in fig. 3 to 8, the present invention provides a ship having a tandem robot apparatus, comprising: a main vessel 1, an auxiliary vessel 2 and a tandem robot device 3.
The main vessel 1 may be an existing vessel including superstructure, deck, board 11, bottom 12, etc., without limitation. In an embodiment of the application, the main vessel 1 floats partly on the water surface as in the case of the existing vessel, the bottom of the main vessel 1 being adapted to be submerged below the water surface as in the case of the existing vessel. For this purpose, the supporting force provided by the auxiliary vessel to the main vessel is designed to be smaller than the gravity of the main vessel itself. In the embodiment of the application, the auxiliary vessel 2 can be partly floated on the water surface or can be completely submerged, which can be realized by the relative position of the auxiliary vessel 2 and the main vessel 1, the waterline of the vessel and the like.
The auxiliary vessel 2 may comprise a plurality of sub-vessels 21, the sub-vessels 21 being connected by connectors so as to form a reference platform. The plurality of sub-hulls 21 are positioned on either side of the main vessel 1 so that the main vessel floats on the water surface, with buoyancy provided by the seawater to at least partially bear the weight of the main vessel, and the plurality of sub-hulls 21 provide correction from both sides. The plurality of sub-hulls 21 are independent of each other and provide buoyancy independently. For this purpose, the sub-hulls 21 are designed with a volume of closed structure, such as a cavity. In one example, the connector acts as a fixed structure. The connection members may also be of a collapsible or telescopic construction, as shown in fig. 7, so that the position of the sub-hulls 21 relative to the main vessel 1 can be changed.
Fig. 9 is a schematic structural view of a serial robot self-balancing device. As shown in fig. 9, the tandem robot apparatus 3 includes a first posture adjustment motor 31, a second posture adjustment motor 32, a controller, a posture sensor, a first angular displacement sensor, and a second angular displacement sensor (not shown). Wherein, the attitude sensor is arranged on the main ship 1 and is used for collecting the attitude of the main ship 1. The first angular displacement sensor is located on the first posture adjustment motor 31 for acquiring the angular displacement of the first posture adjustment motor, and the second angular displacement sensor is located on the second posture adjustment motor 32 for acquiring the angular displacement of the second posture adjustment motor. The first posture adjustment motor 31 and the second posture adjustment motor 32 may be motors for adjusting the postures in the roll and pitch directions, respectively. The main vessel 1 is connected to the auxiliary vessel 2 by means of a tandem robot arrangement 3. One of the connection modes is as follows: the output end of the first posture adjusting motor 31 is in driving connection with the second posture adjusting motor 32, the first posture adjusting motor 31 is fixedly connected with the main ship 1/auxiliary ship 2, and the output end of the second posture adjusting motor 32 is in driving connection with the auxiliary ship 2/main ship 1. Another connection mode is: the output end of the second posture adjusting motor 32 is in driving connection with the first posture adjusting motor 31, the second posture adjusting motor 32 is fixedly connected with the main ship 1/auxiliary ship 2, and the output end of the first posture adjusting motor 31 is in driving connection with the auxiliary ship 2/main ship 1. At this time, the main vessel 1 may be regarded as an execution platform of the tandem robot apparatus 3, and the auxiliary vessel 2 may be regarded as a reference platform of the tandem robot apparatus 3. The main ship 1 is subjected to motion compensation of pitching back and forth and rolling left and right, so that the main ship is subjected to motion compensation and posture correction.
As shown in fig. 9, in the present embodiment, the tandem robot apparatus 3 further includes an upper stage 33 and a lower stage 34. The tandem robot apparatus 3 is located in the cabin of the opening of the main ship 1, and the first posture adjusting motor 31 is fixed to the auxiliary ship 2 in such a manner that: the first posture adjusting motor 31 is fixed on the lower platform 34, the lower platform 34 is used for sealing the opening through an elastic sealing material, the lower platform 34 is fixedly connected with a connecting piece of the auxiliary ship 2, and the upper platform 33 is fixedly connected with the main ship 1.
Preferably, the output shafts of the first posture adjustment motor 31 and the second posture adjustment motor 32 are on the same plane, so that the volume of the tandem robot apparatus 3 can be made as small as possible, and the output shafts of the first posture adjustment motor 31 and the second posture adjustment motor 32 can be also on the upper and lower planes.
The controller of the serial robot device 3 is configured to calculate an expected state when the main ship is in a balanced state according to the posture of the main ship, the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor, and establish a ship self-balancing dynamics model with the serial robot device, wherein the ship self-balancing dynamics model comprises acting force of sea waves on the ship, control amounts of the first posture adjusting motor and the second posture adjusting motor which meet the expected state are determined based on the ship self-balancing dynamics model, and the movement of the first posture adjusting motor and the second posture adjusting motor is controlled according to the control amounts. The control amounts include, but are not limited to, output shaft driving forces of the first posture adjustment motor 31 and the second posture adjustment motor 32. In short, the tandem robot apparatus 3 of the present application adjusts the attitude of the main vessel by generating a mutual acting force between the main vessel 1 and the auxiliary vessel 2 by controlling the output shaft driving forces of the first attitude adjusting motor 31 and the second attitude adjusting motor 32, respectively.
In other embodiments, the tandem robotic apparatus 3 may include only one attitude adjusting motor, adjust only the attitude in the roll or pitch direction, or the tandem robotic apparatus 3 may include more attitude adjusting motors. The application does not limit the number of the gesture adjusting motors.
In the present application, the amount of water discharged by the plurality of sub-hulls 21 may be varied as desired. The displacement of the auxiliary vessel 2 may be set to be equal to or greater than the displacement of the main vessel 1, thereby avoiding that the posture change of the auxiliary vessel 2 is greater than that of the main vessel 1 when the parallel robot self-balancing apparatus 3 is extended and contracted. In other embodiments, the displacement of the auxiliary vessel may also be less than the displacement of the main vessel, which still may allow for attitude adjustment. In one embodiment, the total buoyancy provided by the plurality of sub-hulls 21 may be substantially equal to the weight of the sub-hulls themselves, such that the auxiliary vessels are primarily used to provide the forces required for the tandem robotic device in attitude correction without having to take over the role of lifting the main vessel. In other embodiments, the total buoyancy provided by the plurality of sub-hulls 21 may be greater than its own weight, so that the auxiliary vessel may partially take over the effect of lifting the main vessel. As an example, the total buoyancy provided by the plurality of sub-hulls 21 may be 50% -60% of the total weight of the vessel, so that the auxiliary vessel may have the function of partially lifting the main vessel and attitude correction at the same time, and the required power is still within the range that the tandem robot self-balancing device 3 can withstand.
As shown in fig. 3 to 5, in the case where the auxiliary ship 2 partially floats on the water surface, two sub-hulls 21 of the auxiliary ship 2 are respectively located on both sides of the side 12 of the main ship 1, above or below the deck of the main ship 1. As shown in fig. 6 to 8, when the subsidiary ship 2 is completely submerged under water, the sub-hulls 21 are respectively located at both lower side positions of the main ship 1.
The propulsion device of the whole ship can be arranged on the main ship 1, the auxiliary ship 2 and even the main ship 1 and the auxiliary ship 2 at the same time, and power and balance transmission is performed through the serial robot device 3.
Optionally, the first attitude adjusting motor, the second attitude adjusting motor, the controller, the first angular displacement sensor and the second angular displacement sensor are located in the main ship, so that the area of the auxiliary ship is as small as possible. In one embodiment at least part of these devices may be provided in the auxiliary vessel.
As shown in fig. 11 and 12, when one side of the main ship is subject to wave motion due to the action of wind and waves, if the water level at the left side is raised, the draft area is increased, the buoyancy is increased, the increased buoyancy force F1 or the gravity centers G and B of the ship bodies are deviated due to the pushing of the wind force F2 at the side surfaces, the ship bodies are deviated to the right side, and the main ship 1 is rocked; simultaneously, the reverse moment M generated by buoyancy enables the ship body to move back to the positive direction, and the ship body shakes left and right. After the ship body is provided with the serial robot device 3, the attitude sensor arranged on the main ship detects the attitude change information of the ship body, the controller processes the information and drives the balance system, the motor takes the auxiliary ship 2 as a reference platform to provide lateral correction force F to offset the influence of the side faces F1 and F2 on the main ship, so that the main ship 1 is always stable.
In the same ship running process, due to the difference of the draught areas of the bow and the stern of the main ship 1, longitudinal shaking of the ship body can be caused; inertia during engine deceleration and acceleration can also cause longitudinal jerks. Also, under the action of the serial robot device, the attitude sensor arranged on the main ship detects the attitude change information of the ship body, the controller processes the information and drives the balance system, and the motor takes the auxiliary ship 2 as a reference platform to provide lateral correction force F to counteract the influence of the longitudinal F3 or engine driving force on the main ship, so that the main ship 1 is always stable.
Example 2
On the basis of embodiment 1, this embodiment also provides a self-balancing method:
As shown in fig. 13 to 14, where O i-xiyizi is an inertial coordinate system, O f-xfyfzf is an auxiliary ship coordinate system, and O z-xzyzzz is a main ship coordinate system. The main ship and the auxiliary ship are connected through a serial robot device. The attitude detection module 41 is disposed on the main ship and can acquire the attitude (alpha z,βz) of the main ship in real time, wherein alpha z,βz represents the roll angle and pitch angle of the main ship respectively. At this time, the first and second angular displacement sensors 42 can obtain the angular displacements q1 and q2 of the first and second posture adjustment motors in real time. The controller 43 is connected to the attitude detection module 41 and the angular displacement sensor 42, and is capable of calculating a desired state (α d,βd) of the main vessel in a balanced state from the angular displacement of the first attitude adjustment motor and the angular displacement (q 1, q 2) of the second attitude adjustment motor of the main vessel (α z,βz).
Optionally, the controller calculating the desired state (α d,βd) of the main vessel balance state comprises:
Calculating output torque T α、Tβ of the first posture adjustment motor and the second posture adjustment motor according to the angular displacement (q 1, q 2) of the first posture adjustment motor and the angular displacement (q 1, q 2) of the second posture adjustment motor;
inputting output torque of the first gesture adjusting motor and output torque of the second gesture adjusting motor into a double-shaft decoupling nonlinear dynamics model to solve a roll angle alpha of the whole ship and a pitch angle beta of the whole ship;
optionally, a nonlinear dynamics model in which the biaxial decoupling,
Wherein: j α(α)、Jβ (beta) is the rotational inertia of the first posture adjusting motor and the second posture adjusting motor respectively,The gravity term G α(α)、Gβ (beta) is a coriolis force and centrifugal force matrix of the first posture adjusting motor and the second posture adjusting motor respectively, T α、Tβ is an output moment of the first posture adjusting motor and the second posture adjusting motor, and Γ d is other acting forces applied to a main ship and an auxiliary ship platform and comprises wind wave force, resistance, buoyancy and the like.
Then, the attitude of the auxiliary ship is predicted as:
alpha is the roll angle of the whole ship, beta is the pitch angle of the whole ship, alpha z is the roll angle of the main ship, beta z is the pitch angle of the main ship, alpha f is the roll angle of the auxiliary ship, and beta f is the pitch angle of the auxiliary ship.
In case that the auxiliary ship is supposed to be large in buoyancy and can be regarded as stationary in a short time, in order to compensate for unevenness of the main ship, the relative positions of the main ship and the auxiliary ship in space should be-alpha f and-beta f, i.e. the expected state alpha d＝-αf,βd＝-βf when the main ship is in a balanced state.
The desired positions q di of the first and second attitude adjustment motors are:
Wherein i=1 to 2, q d1 and q d2 respectively represent the desired positions of the first attitude adjusting motor and the second attitude adjusting motor, ux i、uyi and uz i are coordinate values of the main boat driving cylinder connection hinge point in the inertial coordinate system, dx i、dyi and dz i are coordinate values of the auxiliary boat driving cylinder connection hinge point in the inertial coordinate system, z P is the initial height, S represents sin and c represents cos.
As shown in FIG. 14, a highly coupled nonlinear system is arranged among the ship, the sea wave and the self-balancing stabilizing mechanism, and in order to achieve good control effect and better marine environment adaptability, the application establishes a ship self-balancing dynamics model with a serial robot device. The self-balancing dynamics model of the ship can be expressed as:
Wherein: q is a state variable, in this embodiment q= [ q 1,q2 ] representing the angular displacement of the first and second attitude adjustment motors, respectively, M q (q) is an inertia matrix of the ship, Gq (q) is a gravity term, F q＝[Fq1,Fq2, representing driving forces of the first and second attitude adjustment motors, J d is a velocity jacobian matrix of the first and second attitude adjustment motors mapped to the main vessel, Γ d is represented as other forces applied to the main vessel and the auxiliary vessel platform, including wind wave forces, drag forces, buoyancy forces, etc. In one example, Γ d represents the force of sea waves on a vessel (including a main vessel and an auxiliary vessel).
The influence of sea wave interference on the motion of a ship is great, the randomness is strong, the general simplified method is to consider the sea wave of a specific sea surface as the superposition of the influence of 6 interference forces and moments formed by long peak waves from different directions on the ship body, and only the influence of first-order wave forces is considered, namely:
Where i=1 to 6, a w is amplitude, ω e is encounter frequency, α i＝arg[Fi(ωe) ], χ is wave direction angle, F i(ωe is wave force amplitude response factor when the vessel is in top wave (χ=180°), i.e.:
Wherein the method comprises the steps of Is wave height.
Q d1 and q d2 are substituted into [ q 1,q2 ] in the formula (4), respectively, so that the control target of the ship self-balancing dynamics model is to accurately track the expected targets alpha d and beta d by controlling the driving force F q to make the roll angle alpha and the pitch angle beta of the main ship movement plane.
In summary, a basic self-balancing method comprises the steps of:
Acquiring the attitude of a main ship, the angular displacement of a first attitude adjusting motor and the angular displacement of a second attitude adjusting motor;
calculating an expected state of the main ship in a balanced state according to the posture of the main ship, the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor;
establishing a self-balancing dynamics model of the ship with the serial robot device, wherein the self-balancing dynamics model of the ship comprises acting force of sea waves on the ship;
And determining control amounts of the first posture adjustment motor and the second posture adjustment motor which meet the expected state based on the ship self-balancing dynamics model.
As shown in fig. 15, the process is an iteratively performed process, and the control algorithm may be executed in the controller 43. Further, by combining the formulas (4) - (6), a nonlinear dynamic state space equation of the ship self-balancing active stabilization system can be established:
Wherein: As a state variable, F q is a control amount, in this embodiment, F q＝[Fq1,Fq2, representing driving forces of the first posture adjustment motor and the second posture adjustment motor; y= [ q 1,q2,αs,βs ] is the output variable.
As shown in fig. 15, the self-balancing active stabilizing system of the ship is a multi-input multi-output nonlinear system, and for this purpose, a nonlinear model predictive control algorithm is designed to complete the real-time control of the system, so as to realize the self-balancing active stabilizing function of the ship.
In order to realize stable main ship attitude and ensure that the output of the first attitude adjusting motor and the output of the second attitude adjusting motor are not suddenly changed as much as possible, a ship attitude stability control cost function is constructed based on the state space equation, and the cost function is as follows:
wherein: y d is the theoretical reference value of the ideal state variable, namely Y d＝[qd1,qd2,αd,βd],Yd (k+i|k) is the reference estimated value of k time to k+i time Y d, Y (k+i|k) is the estimated value of k time to k+i time Y, F q (k+i|k) is the control quantity of k time to k+i time, F q (k-1) is the actual control quantity of the last time, N p is the prediction time domain, N c is the control time domain, Q is the weight matrix of the control system error, R is the weight matrix of the increment of the control quantity, ρ is the weight coefficient, and ε is the relaxation factor. Thus, the cost function includes 2 terms: the difference between the ship expected state and the ship predicted future time actual state, and the difference between the predicted future time control amount and the previous time actual control amount of the first posture adjustment motor and the second posture adjustment motor.
Because the angular displacement, the speed and the driving force of the first gesture adjusting motor and the second gesture adjusting motor are limited by physical conditions, the self-balancing active stabilizing system of the ship is constrained by:
Where k=0, 1, …, N c-1,qmin(k)、qmax (k) are the minimum and maximum values of the angular displacement outputs of the first and second attitude adjustment motors, respectively, The minimum value and the maximum value of the speed of the first posture adjustment motor and the speed of the second posture adjustment motor are respectively, and F qmin(k)、Fqmax (k) is the minimum value and the maximum value of the driving force of the first posture adjustment motor and the driving force of the second posture adjustment motor respectively.
According to the above description, the nonlinear model predictive control of the ship self-balancing active stabilization system can be converted into solving the following nonlinear programming problem with constraint conditions in each sampling period, wherein the constraint conditions include but are not limited to:
min J(k)
s.t.
X(k+1)＝f(X(k),Fq(k), Γd(k)),k＝0,1,…,Nc-1 (10)
X(k|k)＝X0(k)
qmin(k)≤qi(k)≤qmax(k)
Fqmin(k)≤Fqi(k)≤Fqmax(k)
Solving the above equation in each sampling period to obtain an optimal control sequence in a control time domain, wherein the optimal control sequence is as follows:
According to the principle of model predictive control, only the first element of the control sequence is taken as the actual input of the controlled object, i.e
In the next control period, the system solves by taking the state of the new sampling moment as the initial state, and continuously acts the first element of the control sequence on the active stabilization system, so that the predictive stabilization control of the main ship can be realized through circulation.
According to the self-balancing method of the ship with the serial robot device, disclosed by the application, the nonlinear factors of the system are considered, the self-balancing dynamics model of the ship with the serial robot device is established, the physical constraints of the first posture adjusting motor and the second posture adjusting motor are considered in the control process, the good posture tracking precision and instantaneity can be maintained under the condition of parameter change or external disturbance, the stability and the robustness are good, and the riding comfort can be effectively improved.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (18)
1. A vessel having tandem robotic devices, comprising: a main vessel, an auxiliary vessel and a tandem robot device;
The main vessel having a bottom adapted to be submerged below the water surface;
The auxiliary ship comprises a plurality of sub-ship bodies, wherein the sub-ship bodies are connected through connecting pieces to form a reference platform, the sub-ship bodies are positioned on two sides of the main ship, and the supporting force provided by the auxiliary ship to the main ship is smaller than the gravity of the main ship, namely, the main ship part is positioned below the water surface;
the tandem robot apparatus includes: the device comprises a first gesture adjusting motor, a second gesture adjusting motor, a controller, a gesture sensor, a first angular displacement sensor and a second angular displacement sensor;
The attitude sensor is arranged on the main ship and used for collecting the attitude of the main ship, the first angular displacement sensor is arranged on the first attitude adjusting motor and used for collecting the angular displacement of the first attitude adjusting motor, and the second angular displacement sensor is arranged on the second attitude adjusting motor and used for collecting the angular displacement of the second attitude adjusting motor;
the first attitude adjusting motor is fixedly connected to the auxiliary ship, the output end of the first attitude adjusting motor is in driving connection with the second attitude adjusting motor, the output end of the second attitude adjusting motor is in driving connection with the main ship, and the auxiliary ship is used as a reference platform to perform motion compensation and attitude correction on the main ship;
The controller is configured to calculate an expected state in the balance state of the main ship according to the posture of the main ship, the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor, establish a ship self-balancing dynamics model with a serial robot device, the ship self-balancing dynamics model comprises acting force of sea waves on the ship, determine control amounts of the first posture adjusting motor and the second posture adjusting motor which meet the expected state based on the ship self-balancing dynamics model, and control the first posture adjusting motor and the second posture adjusting motor to move according to the control amounts.
2. The vessel with tandem robotic device of claim 1, wherein the tandem robotic device further comprises: the device comprises an upper platform and a lower platform, wherein a first posture adjusting motor and a second posture adjusting motor are positioned between the upper platform and the lower platform, the first posture adjusting motor is fixed on the lower platform, the lower platform is fixedly connected with the connecting piece, and the upper platform is fixedly connected with the main ship.
3. The vessel with tandem robot apparatus according to claim 1, wherein the first attitude adjusting motor and the second attitude adjusting motor are on the same plane, and axes of the output ends are perpendicular to each other.
4. The vessel with tandem robotic device of claim 1, wherein the connector is of collapsible or telescopic construction for adjusting the position of the sub-hulls.
5. The vessel with tandem robotic device of claim 4, wherein the secondary vessel is designed to float partially above the water surface and the plurality of sub-vessels are located on the side of the main vessel; or alternatively
The auxiliary vessels are designed to be located entirely below the water surface, and the sub-vessels are located on both sides below the main vessel.
6. Vessel with tandem robotic device according to claim 1, wherein the primary vessel and/or the secondary vessel is provided with propulsion means.
7. The vessel with tandem robotic device of claim 1, wherein the auxiliary vessel provides buoyancy greater than or equal to the gravity of the auxiliary vessel itself.
8. The vessel with tandem robotic device of claim 1, wherein calculating the desired state of the main vessel equilibrium state from the attitude of the main vessel, the angular displacement of the first attitude adjustment motor, and the angular displacement of the second attitude adjustment motor comprises:
Calculating output torque of the first posture adjusting motor and the second posture adjusting motor according to the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor;
Inputting output torque of the first gesture adjusting motor and output torque of the second gesture adjusting motor into a non-linear dynamics model with double-shaft decoupling to calculate a roll angle and a pitch angle of the whole ship;
calculating the posture of the auxiliary ship according to the posture of the main ship and the roll angle and the pitch angle of the whole ship;
And determining the expected state of the main ship in the balance state according to the posture of the auxiliary ship.
9. The vessel with tandem robotic device of claim 8, wherein the non-linear dynamics model of biaxial decoupling is representable as:
wherein: j α(α)、Jβ (beta) is the rotational inertia of the first posture adjusting motor and the second posture adjusting motor respectively, The gravity term G α(α)、Gβ (beta) is a coriolis force and centrifugal force matrix of the first posture adjusting motor and the second posture adjusting motor respectively, T α、Tβ is an output moment of the first posture adjusting motor and the second posture adjusting motor, and Γ d is acting force of sea waves on the ship.
10. The vessel with tandem robotic device of claim 1, wherein the vessel self-balancing dynamics model is representable as:
wherein q= [ q 1,q2 ] respectively represents the angular displacement of the first posture adjustment motor and the second posture adjustment motor, M q (q) is the inertia matrix of the ship, For the coriolis force and centrifugal force matrix of the ship, G q (q) is a gravity term, F q＝[Fq1,Fq2, representing the driving forces of a first attitude adjustment motor and a second attitude adjustment motor, J d is a velocity jacobian matrix of the first attitude adjustment motor and the second attitude adjustment motor mapped to the main ship, and Γ d represents the acting force of the ocean wave on the ship.
11. The ship having the tandem robot apparatus according to claim 1, wherein determining the control amounts of the first attitude adjusting motor and the second attitude adjusting motor that satisfy the desired state based on the ship self-balancing dynamics model includes:
establishing a nonlinear dynamic state space equation of a ship self-balancing active stabilization system;
Constructing a ship attitude stabilization control cost function, wherein the ship attitude stabilization control cost function comprises the difference between a ship expected state and a ship predicted future time actual state and the difference between the predicted future time control quantity of the first attitude adjusting motor and the second attitude adjusting motor and the previous time actual control quantity;
Constructing constraint conditions, wherein the constraint conditions comprise the minimization of a ship attitude stabilization control cost function, the limitation of angular displacement, the limitation of speed and the limitation of driving force of a first attitude adjusting motor and a second attitude adjusting motor;
solving the nonlinear dynamics state space equation in each sampling period based on the constraint condition to obtain an optimal control sequence in a control time domain;
And taking the first element of the optimal control sequence as the control quantity.
12. A method of self-balancing a vessel having tandem robotic devices as claimed in any one of claims 1 to 11, comprising the steps of:
Acquiring the attitude of a main ship, the angular displacement of a first attitude adjusting motor and the angular displacement of a second attitude adjusting motor;
Calculating an expected state of the main ship in a balanced state according to the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor of the main ship;
establishing a self-balancing dynamics model of the ship with the serial robot device, wherein the self-balancing dynamics model of the ship comprises acting force of sea waves on the ship;
Determining control amounts of a first attitude adjusting motor and a second attitude adjusting motor which meet the expected state based on the ship self-balancing dynamics model;
And controlling the first gesture adjusting motor and the second gesture adjusting motor to move according to the control quantity, and performing motion compensation and gesture correction on the main ship by taking the auxiliary ship as a reference platform.
13. The method of self-balancing a ship according to claim 12, wherein calculating the desired state of the main ship in a balanced state from the posture of the main ship, the angular displacement of the first posture adjustment motor, and the angular displacement of the second posture adjustment motor comprises:
Calculating output torque of the first posture adjusting motor and the second posture adjusting motor according to the angular displacement of the first posture adjusting motor and the angular displacement of the second posture adjusting motor;
Inputting output torque of the first gesture adjusting motor and output torque of the second gesture adjusting motor into a non-linear dynamics model with double-shaft decoupling to calculate a roll angle and a pitch angle of the whole ship;
calculating the posture of the auxiliary ship according to the posture of the main ship and the roll angle and the pitch angle of the whole ship;
And determining the expected state of the main ship in the balance state according to the posture of the auxiliary ship.
14. The method of self-balancing a vessel according to claim 13, wherein the non-linear dynamics model of biaxial decoupling is representable as:
wherein: j α(α)、Jβ (beta) is the rotational inertia of the first posture adjusting motor and the second posture adjusting motor respectively, The gravity term G α(α)、Gβ (beta) is a coriolis force and centrifugal force matrix of the first posture adjusting motor and the second posture adjusting motor respectively, T α、Tβ is an output moment of the first posture adjusting motor and the second posture adjusting motor, and Γ d is acting force of sea waves on the ship.
15. The self-balancing method of a ship according to claim 12, wherein determining the control amounts of the first posture adjustment motor and the second posture adjustment motor that satisfy the desired state based on the ship self-balancing dynamics model includes:
establishing a nonlinear dynamic state space equation of a ship self-balancing active stabilization system;
Constructing a ship attitude stabilization control cost function, wherein the ship attitude stabilization control cost function comprises the difference between a ship expected state and a ship predicted future time actual state and the difference between the predicted future time control quantity of the first attitude adjusting motor and the second attitude adjusting motor and the previous time actual control quantity;
Constructing constraint conditions, wherein the constraint conditions comprise the minimization of a ship attitude stabilization control cost function, the limitation of angular displacement, the limitation of speed and the limitation of driving force of a first attitude adjusting motor and a second attitude adjusting motor;
solving the nonlinear dynamics state space equation in each sampling period based on the constraint condition to obtain an optimal control sequence in a control time domain;
And taking the first element of the optimal control sequence as the control quantity.
16. The method of self-balancing a vessel according to claim 12, wherein the vessel self-balancing dynamics model is representable as:
wherein q= [ q 1,q2 ] respectively represents the angular displacement of the first posture adjustment motor and the second posture adjustment motor, M q (q) is the inertia matrix of the ship, For the coriolis force and centrifugal force matrix of the ship, G q (q) is a gravity term, F q＝[Fq1,Fq2, representing the driving forces of a first attitude adjustment motor and a second attitude adjustment motor, J d is a velocity jacobian matrix of the first attitude adjustment motor and the second attitude adjustment motor mapped to the main ship, and Γ d represents the acting force of the ocean wave on the ship.
17. A method of self-balancing a vessel according to claim 12, wherein the ocean wave forces on the vessel are first order wave forces comprising a plurality of sets of nonlinear fundamental wave forces of different encounter frequencies and phases.
18. The method of self-balancing a vessel according to claim 17, wherein the first order wave force expression is:
Where i represents the i-th direction, a w is the amplitude, ω e is the encounter frequency, α i＝arg[Fi(ωe) ], χ is the wave direction angle, F i(ωe) is the wave force amplitude response factor when the vessel is in the top wave (χ=180°), i.e.:
Wherein the method comprises the steps of Is wave height.
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