随机海浪作用下船上物体保持水平的预测控制研究
|
摘要
舰船是经常处在风浪的环境条件下航行和战斗的。在随机海浪的扰动下，船舶在海上不可避免地会发生摇荡运动，造成船体的倾斜。尤其是对大量的小型舰船，船体的最大倾角甚至可达到15°以上。在实战中，船舶的摇荡将造成炮手对船载火炮的操纵性能降低，降低火炮的发射命中率，影响到船载火炮威力的发挥。
通过直接控制固连于船体的火炮，使其始终保持在水平状态，可以提高实战中火炮的操纵性能，提高火炮的命中率。本文建立了随机海浪作用下船上物体保持水平状态的预测控制系统。应用控制理论通过预测随机海浪扰动下船舶的横摇、纵摇运动的摇角值，按照所设计的控制规律实现在不受实际海况限制的情况下调整船上物体的空间位置，使此物体保持水平状态的目的。
本文根据统计叠加理论，采用ITTC单参数标准海浪谱仿真模拟实际的长峰波随机海浪，进而实时仿真长峰波随机海浪对船舶的随机扰动，对船舶在海浪中的横摇和纵摇运动进行了时域仿真，得到船舶摇荡运动的横摇角信号θ(t)和纵摇角信号φ(t)。
对于船舶摇荡运动这一动态过程，采用时间序列分析的方法，建立系统的自回归模型(AR模型)，并根据最小AIC信息量判定准则保证建立的系统模型为最优化模型。利用参数模型的方式对船舶横摇、纵摇运动的动态数据进行分析处理，揭示船舶摇荡运动的规律，预测船舶横摇角、纵摇角的未来值。然后将摇角的预测值转化为保持船上物体水平所需要的调节量，按照合适的控制规律对船上物体进行控制调节。
本文建立的自回归模型可以很好的预测船舶的摇荡运动趋势。通过预测控制系统对船上火炮(或其他需要保持水平的物体)的控制调节，可以保证此物体始终处于水平状态附近，使炮手对火炮的操纵精度提高，大大提高火炮的实战命中率。此系统的研究是对船上物体进行实时智能控制的一次探索，控制过程简单方便，有较高的实用价值。
The ship often is sailed and fought in the wind wave . With the disturbance of random wave the ship will inevitably roll and result in the ship's incline, especially, for small ships which the most obliquity of the ship is likely to reach above degree 15.In the actual combat the rolling movement of the ship will result in difficult control of the artillery for the artillerymen on the ship, reduce the artillery's probability of shots, and affect the power of the artillery
By direct control of the object (artillery) fixed on the ship it can be kept horizontal state all the time. As a result, it can improve the controlling quality of artillery and increase its probability of shots. This paper brings up a predictive control system that makes the object keep horizontal state on the sailing ship in random wave. On the basis of cybernetics through forecast roll and pitch of a ship and by adjusting the object's space position and keep its horizontal state without limit of actual sea state according to the control rules with the predictive value of ship's roll angle and pitch angle.
This paper applies ITTC single-parameter ocean wave spectrum to simulate a random long-crested ocean wave according to statistics superposition theory and real-time simulate disturbance on the ship by random wave. It simulates roll and pitch of the ship in random wave in the time domain and gains roll angle (t) and pitch angle (t) signal of ship rolling movement.
For the dynamic process of ship rolling movement, this paper analyses its dynamic date with time series analysis method and brings up this system's the most excellent Autoregressive model (AR model) according to least AIC criterion (Akaile , information criterion).It reveals the regular pattern of ship rolling movement and forecasts the future value of roll angle and pitch angle, then transforms it to adjusting value of object and adjusting it according to appropriate control rules.
The AR model can comparatively well forecast the movement trend of actual ship's rolling. Through this predictive control system controlling and adjusting the artillery (or other object
that requires keeping horizontal state) can make it keep about horizontal state all the time and make artillerymen easily control the artillery and consumedly increase the probability of shots in the actual combat. This system is a exploration in the field of real-time intellectual control of object on the ship, its control process is simple and convenient ,and it has a high applied value.
通过直接控制固连于船体的火炮，使其始终保持在水平状态，可以提高实战中火炮的操纵性能，提高火炮的命中率。本文建立了随机海浪作用下船上物体保持水平状态的预测控制系统。应用控制理论通过预测随机海浪扰动下船舶的横摇、纵摇运动的摇角值，按照所设计的控制规律实现在不受实际海况限制的情况下调整船上物体的空间位置，使此物体保持水平状态的目的。
本文根据统计叠加理论，采用ITTC单参数标准海浪谱仿真模拟实际的长峰波随机海浪，进而实时仿真长峰波随机海浪对船舶的随机扰动，对船舶在海浪中的横摇和纵摇运动进行了时域仿真，得到船舶摇荡运动的横摇角信号θ(t)和纵摇角信号φ(t)。
对于船舶摇荡运动这一动态过程，采用时间序列分析的方法，建立系统的自回归模型(AR模型)，并根据最小AIC信息量判定准则保证建立的系统模型为最优化模型。利用参数模型的方式对船舶横摇、纵摇运动的动态数据进行分析处理，揭示船舶摇荡运动的规律，预测船舶横摇角、纵摇角的未来值。然后将摇角的预测值转化为保持船上物体水平所需要的调节量，按照合适的控制规律对船上物体进行控制调节。
本文建立的自回归模型可以很好的预测船舶的摇荡运动趋势。通过预测控制系统对船上火炮(或其他需要保持水平的物体)的控制调节，可以保证此物体始终处于水平状态附近，使炮手对火炮的操纵精度提高，大大提高火炮的实战命中率。此系统的研究是对船上物体进行实时智能控制的一次探索，控制过程简单方便，有较高的实用价值。
The ship often is sailed and fought in the wind wave . With the disturbance of random wave the ship will inevitably roll and result in the ship's incline, especially, for small ships which the most obliquity of the ship is likely to reach above degree 15.In the actual combat the rolling movement of the ship will result in difficult control of the artillery for the artillerymen on the ship, reduce the artillery's probability of shots, and affect the power of the artillery
By direct control of the object (artillery) fixed on the ship it can be kept horizontal state all the time. As a result, it can improve the controlling quality of artillery and increase its probability of shots. This paper brings up a predictive control system that makes the object keep horizontal state on the sailing ship in random wave. On the basis of cybernetics through forecast roll and pitch of a ship and by adjusting the object's space position and keep its horizontal state without limit of actual sea state according to the control rules with the predictive value of ship's roll angle and pitch angle.
This paper applies ITTC single-parameter ocean wave spectrum to simulate a random long-crested ocean wave according to statistics superposition theory and real-time simulate disturbance on the ship by random wave. It simulates roll and pitch of the ship in random wave in the time domain and gains roll angle (t) and pitch angle (t) signal of ship rolling movement.
For the dynamic process of ship rolling movement, this paper analyses its dynamic date with time series analysis method and brings up this system's the most excellent Autoregressive model (AR model) according to least AIC criterion (Akaile , information criterion).It reveals the regular pattern of ship rolling movement and forecasts the future value of roll angle and pitch angle, then transforms it to adjusting value of object and adjusting it according to appropriate control rules.
The AR model can comparatively well forecast the movement trend of actual ship's rolling. Through this predictive control system controlling and adjusting the artillery (or other object
that requires keeping horizontal state) can make it keep about horizontal state all the time and make artillerymen easily control the artillery and consumedly increase the probability of shots in the actual combat. This system is a exploration in the field of real-time intellectual control of object on the ship, its control process is simple and convenient ,and it has a high applied value.
引文
[1] 李麓，李维佳．潜艇水下六自由度运动仿真数学模型．计算机仿真，2001，9
[2] 贾欣乐，杨盐生．船舶运动数学模型——机理建模与辨识建模．大连：大连海事大学出版社，1998，11
[3] 任光，牛井超等．三种船舶运动控制仿真系统。系统仿真学报，2001，11
[4] 彭英声．船舶耐波性基础．北京：国防工业大学出版社，1989，5
[5] 李积德．船舶耐波性．哈尔滨：哈尔滨船舶工程学院出版社，1992，7
[6] 吴宝玉，姜兴起等．统计推断及应用．大连：大连海事大学出版社，1994，11
[7] 李韫，李书臣．漫谈预测控制．自动化博览，2001，9
[8] 冯铁成，朱文蔚等．船舶操纵与摇荡．国防工业大学出版社，1989
[9] 戴余良．潜艇在随机海浪中摇荡运动的仿真研究．计算机仿真，2001，9
[10] Dalzell, J, F. "A note on the Distribution of Maxima of Ship Rolling in a Seaway". JSR, Vol.17,1973
[11] COX G G,LLOYD A R. Hydrodynamic design basis for navy ship roll motion stabilization[J]. SNAME Transactions, 1977(85): 51-88
[12] Roberts, J. B. Estimation of Nonlinear Ship Roll Damping from Free-Decay Data. JSR, Vol.20,1985
[13] 浙江大学数学系高等数学教研组编．概率论与数理统计．人民教育出版社，1979．
[14] 刘豹．现代控制理论．北京：机械工业出版社，1983
[15] 彭英声．船舶非线性横摇阻尼的试验分析．海军工程学院学报，1982，2
[16] 于家鹏．船舶与海洋建筑物性能统计预报理论及应用．国防工业出版社，1985．
[17] 文圣常，余宙文．海浪理论与计算原理．北京：海洋出版社，1987(1)：24～30
[18] 金鸿章．长峰波随机海浪的实时仿真和频谱分析．船舶工程，1995(2)：24～41
[19] 绪方胜彦．现代控制工程．北京：科学出版社，1976
[20] 刘藻珍，魏华梁．系统仿真．北京：北京理工大学出版社，1998
[21] 顾文锦，叶显武．导弹仿真中海浪的数字仿真及动画生成．系统仿真学报，1998，10(1)：33～38
[22] 江红，赵忠华，张炎华．船舶震荡运动仿真．上海交通大学学报，2001，10
[23] 冯允成，邹志红，周泓．离散系统仿真．北京：机械工业出版社，1998
[24] 赖志昌，金鸿章等．随机海浪作用下船舶横摇减摇预报方法．哈尔滨工程大学学报，2001，6
[25] 文圣常，余宙文．海浪理论与计算原理．北京：海洋出版社，1984
[26] 杨位钦，顾岚．时间序列分析与动态建模．北京：北京工业学院出版社，1987
[27] 陈希孺，王松桂．近代回归分析．安徽：安徽教育出版社，1987
[28] 方崇智，萧德云．过程辩识．北京：清华大学出版社，1988
[29] 王小捷，文传源．一类混合动态系统的仿真方法．系统仿真学报，1997，9(3)：55～55
[30] 甘仞初．动态数据的统计分析．北京：北京理工大学出版社，1991
[31] 舒迪前．预测控制系统及应用．北京：机械工业出版社，1998
[32] Zhang Zhiqiang, Wang Shunhuang, Shu Diqian. Intelligent Control of the Temperatur in the Electronic Heating Furnace of Mechanics strength Machine. PIC. AMSE. , 1992, Hefei, china
[33] John C. Doyle, Gunter stein. Multivariable Feedback Design: Concepts for classical/Modern Sythesis. IEEE Trans. On Automatic Control. 1981, AC-26(1): 4～6
[34] 席裕庚．预测控制．北京：国防出版社，1993
[35] 王顺晃，舒迪前．智能控制系统及其应用．北京：机械工业出版社，1995
[36] 杨叔子，吴雅等．时间序列分析的工程应用(上、下)．武汉：华中理工大学出版社，1994，4
[37] 黎亚元．数控机床速度伺服系统自适应控制研究．中国机械工程，1993，33～35
[38] 胡广书．数字信号处理．北京：清华大学出版社，1997
[39] 席欲庚．关于预测控制的进一步思考．控制理论与应用．1994，11(2)：219～221
[40] 金钰．伺服系统设计指导．北京：北京理工大学出版社，2000(2)
[41] Lundholm T A. Flexible Real Time Adaptive Control System for Turning. Annals CIRP, Vol. 40,No. 1,1994: 441～444
[42] 吴湘淇．信号、系统与信号处理．北京：电子工业出版社，1999
[43] Li Xiaoli, Guan Xingping. Experimental investigates of transmitted properties of acoustic emission signal and its application. High Technolagy letters. Vol. 3,No.2,1997:13～17
[44] 楼顺天，于卫．基于MATLAB的系统分析与设计——控制系统．西安：西安电子科技大学出版社，1998，9
[45] 高俊斌，MATLAB5.0语言与程序设计．武汉：华中理工大学出版社，1998
[46] Wu Ya. Yang Shuzi. Plant Condition Recognition-A Time Series Model Approach. Comptuter in Industry, 1989,11.
[47] Ding Hong, Wu Ya, Yang Shuizi. Fault Diag-nosis by Time Series Analysis. Applied Time Series Analysis. World Scientific Publishing Co., 1989
[48] Zheng Qinbao, Shu Diqian, Wang Shunhuang. Intelligent Self-tuning Model Algorithmic Coutrol. Proc. Intern. Conference, Signals and Systerms. Dalian,1989, Tassin: AMSE Press, 1989
[49] 程卫国，冯峰等．MATLAB5.3应用指南．北京：人民邮电出版社，2000，3
[50] 李小俚，董申．先进制造中的智能监控技术．北京：科学出版社，1999，3
[51] Warwick K，Clarke D W. Weighted Input Predictive Controller. IEE Pro. Pt. D 1988, 135(1)
[52] Zheng Qinbao,Shu Diqian, Wang Shunhuang. Intelligent Self-tuning Model Algorithmic Control. Proc. Intern. Conference,Singnals and System. Dalian,1989,Tassin: AMSE Press,1989
[2] 贾欣乐，杨盐生．船舶运动数学模型——机理建模与辨识建模．大连：大连海事大学出版社，1998，11
[3] 任光，牛井超等．三种船舶运动控制仿真系统。系统仿真学报，2001，11
[4] 彭英声．船舶耐波性基础．北京：国防工业大学出版社，1989，5
[5] 李积德．船舶耐波性．哈尔滨：哈尔滨船舶工程学院出版社，1992，7
[6] 吴宝玉，姜兴起等．统计推断及应用．大连：大连海事大学出版社，1994，11
[7] 李韫，李书臣．漫谈预测控制．自动化博览，2001，9
[8] 冯铁成，朱文蔚等．船舶操纵与摇荡．国防工业大学出版社，1989
[9] 戴余良．潜艇在随机海浪中摇荡运动的仿真研究．计算机仿真，2001，9
[10] Dalzell, J, F. "A note on the Distribution of Maxima of Ship Rolling in a Seaway". JSR, Vol.17,1973
[11] COX G G,LLOYD A R. Hydrodynamic design basis for navy ship roll motion stabilization[J]. SNAME Transactions, 1977(85): 51-88
[12] Roberts, J. B. Estimation of Nonlinear Ship Roll Damping from Free-Decay Data. JSR, Vol.20,1985
[13] 浙江大学数学系高等数学教研组编．概率论与数理统计．人民教育出版社，1979．
[14] 刘豹．现代控制理论．北京：机械工业出版社，1983
[15] 彭英声．船舶非线性横摇阻尼的试验分析．海军工程学院学报，1982，2
[16] 于家鹏．船舶与海洋建筑物性能统计预报理论及应用．国防工业出版社，1985．
[17] 文圣常，余宙文．海浪理论与计算原理．北京：海洋出版社，1987(1)：24～30
[18] 金鸿章．长峰波随机海浪的实时仿真和频谱分析．船舶工程，1995(2)：24～41
[19] 绪方胜彦．现代控制工程．北京：科学出版社，1976
[20] 刘藻珍，魏华梁．系统仿真．北京：北京理工大学出版社，1998
[21] 顾文锦，叶显武．导弹仿真中海浪的数字仿真及动画生成．系统仿真学报，1998，10(1)：33～38
[22] 江红，赵忠华，张炎华．船舶震荡运动仿真．上海交通大学学报，2001，10
[23] 冯允成，邹志红，周泓．离散系统仿真．北京：机械工业出版社，1998
[24] 赖志昌，金鸿章等．随机海浪作用下船舶横摇减摇预报方法．哈尔滨工程大学学报，2001，6
[25] 文圣常，余宙文．海浪理论与计算原理．北京：海洋出版社，1984
[26] 杨位钦，顾岚．时间序列分析与动态建模．北京：北京工业学院出版社，1987
[27] 陈希孺，王松桂．近代回归分析．安徽：安徽教育出版社，1987
[28] 方崇智，萧德云．过程辩识．北京：清华大学出版社，1988
[29] 王小捷，文传源．一类混合动态系统的仿真方法．系统仿真学报，1997，9(3)：55～55
[30] 甘仞初．动态数据的统计分析．北京：北京理工大学出版社，1991
[31] 舒迪前．预测控制系统及应用．北京：机械工业出版社，1998
[32] Zhang Zhiqiang, Wang Shunhuang, Shu Diqian. Intelligent Control of the Temperatur in the Electronic Heating Furnace of Mechanics strength Machine. PIC. AMSE. , 1992, Hefei, china
[33] John C. Doyle, Gunter stein. Multivariable Feedback Design: Concepts for classical/Modern Sythesis. IEEE Trans. On Automatic Control. 1981, AC-26(1): 4～6
[34] 席裕庚．预测控制．北京：国防出版社，1993
[35] 王顺晃，舒迪前．智能控制系统及其应用．北京：机械工业出版社，1995
[36] 杨叔子，吴雅等．时间序列分析的工程应用(上、下)．武汉：华中理工大学出版社，1994，4
[37] 黎亚元．数控机床速度伺服系统自适应控制研究．中国机械工程，1993，33～35
[38] 胡广书．数字信号处理．北京：清华大学出版社，1997
[39] 席欲庚．关于预测控制的进一步思考．控制理论与应用．1994，11(2)：219～221
[40] 金钰．伺服系统设计指导．北京：北京理工大学出版社，2000(2)
[41] Lundholm T A. Flexible Real Time Adaptive Control System for Turning. Annals CIRP, Vol. 40,No. 1,1994: 441～444
[42] 吴湘淇．信号、系统与信号处理．北京：电子工业出版社，1999
[43] Li Xiaoli, Guan Xingping. Experimental investigates of transmitted properties of acoustic emission signal and its application. High Technolagy letters. Vol. 3,No.2,1997:13～17
[44] 楼顺天，于卫．基于MATLAB的系统分析与设计——控制系统．西安：西安电子科技大学出版社，1998，9
[45] 高俊斌，MATLAB5.0语言与程序设计．武汉：华中理工大学出版社，1998
[46] Wu Ya. Yang Shuzi. Plant Condition Recognition-A Time Series Model Approach. Comptuter in Industry, 1989,11.
[47] Ding Hong, Wu Ya, Yang Shuizi. Fault Diag-nosis by Time Series Analysis. Applied Time Series Analysis. World Scientific Publishing Co., 1989
[48] Zheng Qinbao, Shu Diqian, Wang Shunhuang. Intelligent Self-tuning Model Algorithmic Coutrol. Proc. Intern. Conference, Signals and Systerms. Dalian,1989, Tassin: AMSE Press, 1989
[49] 程卫国，冯峰等．MATLAB5.3应用指南．北京：人民邮电出版社，2000，3
[50] 李小俚，董申．先进制造中的智能监控技术．北京：科学出版社，1999，3
[51] Warwick K，Clarke D W. Weighted Input Predictive Controller. IEE Pro. Pt. D 1988, 135(1)
[52] Zheng Qinbao,Shu Diqian, Wang Shunhuang. Intelligent Self-tuning Model Algorithmic Control. Proc. Intern. Conference,Singnals and System. Dalian,1989,Tassin: AMSE Press,1989