计及形变的滚塑船艇横摇运动中的混沌及其控制

Chaos and Its Control of Rolling Motion of Rotational Molding Boats under Considering Its Elastic Deformation

以渔家乐滚塑船为例,考虑船艇体的弹性形变、随机风速和随机波浪等非线性因素,采用时历图、相图、功率谱和Lyapunov指数从不同角度剖析船艇横摇中的动力学特性,然后应用精确反馈线性化和闭环增益成形算法相结合的方法设计控制器,使船艇脱离混沌状态。仿真结果表明:当计及船体弹性形变时,横摇频率加快,船艇稳性和舒适感变差;随着风和浪所含谐波次数的增加,横摇更加剧烈,混沌现象愈显著;所设计的控制器能够有效控制其混沌。

Taking the fishing-entertainment rotational molding boat as an example, and considering its elastic deformation, random wind and waves, this paper dissected its dynamic characteristic of rolling motion from different aspects by using time domain diagram, phase graph, power spectrum, as well Lyapunov exponential spectrum. And then, an exact feedback linearization controller was designed using closed-loop gain shaping algorithm to make the boat get rid of chaotic state. Simulation results show that when considering its elastic deformation the rolling frequency of boat will speed up, its stability and comfort will decrease. And along with the increasing of harmonic of wind and waves, the boat will roll much more seriously, and the chaos phenomenon is much more remarkable. At last, the controller can control the chaos effectively.