阅读说明：本技术 输出特性参数修正方法、装置、存储介质及船舶振动控制方法 (Output characteristic parameter correction method, output characteristic parameter correction device, storage medium, and ship vibration control method ) 是由 范文焜 胡宾 董佳鑫 朱志兵 胡杰 于 2021-08-20 设计创作，主要内容包括：本发明提出一种输出特性参数修正方法、装置、存储介质及船舶振动控制方法,所述修正方法包括如下步骤：确定滤波模块的待修正输出特性参数；所述滤波模块以所述待修正输出特性参数进行输出,并实时获取所述消振对象的当前振动频率；当所述当前振动频率超出一预设值时,根据所述当前振动频率获得输出特性参数修正值,并基于所述输出特性参数修正值对所述待修正输出特性参数进行修正。结合了离线辨识和在线辨识的优点,当消振对象的振动频率超出预设值时,通过在线辨识的方法对所述待修正输出特性参数进行实时的修正,改善由于次级通道发生改变导致离线识别控制效果降低,甚至控制失效的问题,并最终实现有效的振动和噪声控制。(The invention provides an output characteristic parameter correction method, an output characteristic parameter correction device, a storage medium and a ship vibration control method, wherein the correction method comprises the following steps: determining output characteristic parameters to be corrected of a filtering module; the filtering module outputs the output characteristic parameters to be corrected, and acquires the current vibration frequency of the vibration elimination object in real time; and when the current vibration frequency exceeds a preset value, obtaining an output characteristic parameter correction value according to the current vibration frequency, and correcting the output characteristic parameter to be corrected based on the output characteristic parameter correction value. The method combines the advantages of off-line identification and on-line identification, when the vibration frequency of the vibration elimination object exceeds a preset value, the output characteristic parameter to be corrected is corrected in real time by an on-line identification method, the problems that the off-line identification control effect is reduced and even the control is invalid due to the change of the secondary channel are solved, and effective vibration and noise control is finally realized.)

1. An output characteristic parameter correction method for providing an output characteristic parameter to a filter module so that the filter module can output and control vibration of a vibration canceling object according to the output characteristic parameter, the output characteristic parameter correction method comprising the steps of:

s1, determining output characteristic parameters to be corrected of the filtering module;

s2, when the filtering module outputs the output characteristic parameters to be corrected, the current vibration frequency of the vibration elimination object is obtained in real time;

and S3, when the current vibration frequency exceeds a preset value, obtaining an output characteristic parameter correction value according to the current vibration frequency, and correcting the output characteristic parameter to be corrected based on the output characteristic parameter correction value.

2. The output characteristic parameter correction method according to claim 1, wherein the step S1 includes the steps of:

s11, in a stable state, inputting reference vibration to the vibration elimination object, adjusting the output characteristic parameters of the filtering module until a preset condition is met, and taking the adjusted output characteristic parameters as the initial output characteristic parameters to be corrected of the filtering module.

3. The output characteristic parameter correction method according to claim 2, wherein the step S11 is specifically as follows:

s111, inputting reference vibration to the vibration elimination object in a stable state, and inputting restraining vibration to the vibration elimination object through the filtering module;

s112, obtaining the vibration frequency of the vibration elimination object under the combined action of the reference vibration and the suppression vibration;

s113, adjusting the output characteristic parameters of the filtering module according to the vibration frequency of the vibration elimination object until the vibration frequency of the vibration elimination object is smaller than a preset value, and taking the adjusted output characteristic parameters as the initial output characteristic parameters to be corrected of the filtering module.

4. The output characteristic parameter correction method according to any one of claims 2 to 3, wherein the step S1 further includes the steps of:

and S12, regarding the non-initial output characteristic parameters of the filtering module, taking the output characteristic parameters obtained after the correction in the step S3 as the output characteristic parameters to be corrected in the step S1.

5. The output characteristic parameter correction method according to claim 1, wherein in step S3, the method of obtaining the output characteristic parameter correction value based on the current vibration frequency is as follows: and performing analog adjustment on the output characteristic parameter of the filtering module according to the current vibration frequency until the sum of the current vibration frequency and the analog output of the filtering module is less than a preset value, and taking the output characteristic parameter obtained after analog adjustment as the corrected value of the output characteristic parameter.

6. The output characteristic parameter correction method according to claim 1 or 5, wherein the output characteristic parameter correction value includes a real part correction value and an imaginary part correction value of the output characteristic parameter.

7. The output characteristic parameter correction method according to claim 6, wherein in step S3, the method of correcting the output characteristic parameter based on the output characteristic parameter correction value is as follows: and performing FFT (fast Fourier transform) on the output characteristic parameters to obtain a real part and an imaginary part of the output characteristic parameters, respectively correcting the real part and the imaginary part of the output characteristic parameters according to the real part correction value and the imaginary part correction value, and performing IFFT (inverse fast Fourier transform) to obtain the corrected output characteristic parameters.

8. The output characteristic parameter correcting method according to claim 7, wherein the correction is to replace the real part and the imaginary part of the characteristic identification parameter after multiplying the real part correction value and the imaginary part correction value by a correction coefficient, respectively.

9. An output characteristic parameter correction apparatus for providing an output characteristic parameter to a filter module so that the filter module can output and control vibration of a vibration damping object according to the output characteristic parameter, comprising:

the frequency detection unit is used for acquiring the current vibration frequency of the vibration elimination object in real time;

and the correction unit is used for obtaining an output characteristic parameter correction value according to the current vibration frequency when the current vibration frequency exceeds a preset value, and correcting the output characteristic parameter to be corrected of the filtering module based on the output characteristic parameter correction value.

10. The apparatus for correcting an output characteristic parameter according to claim 9, further comprising:

and the to-be-corrected output characteristic parameter identification unit is used for inputting reference vibration to the vibration elimination object in a stable state, adjusting the output characteristic parameters of the filtering module until a preset condition is met, and taking the adjusted output characteristic parameters as the initial to-be-corrected output characteristic parameters of the filtering module.

11. The apparatus according to claim 9, wherein the correcting unit is configured to perform analog adjustment on the output characteristic parameter of the filter module according to the current vibration frequency until a sum of the current vibration frequency and the analog output of the filter module is smaller than a preset value, and to use the output characteristic parameter obtained after the analog adjustment as the output characteristic parameter correction value.

12. The apparatus for correcting an output characteristic parameter according to claim 9 or 11, wherein the output characteristic parameter correction value includes a real part correction value and an imaginary part correction value of the output characteristic parameter.

13. The apparatus for modifying an output characteristic parameter as claimed in claim 12, wherein the modifying unit is further configured to perform FFT on the output characteristic parameter to obtain a real part and an imaginary part of the output characteristic parameter, modify the real part and the imaginary part of the output characteristic parameter according to the real part modification value and the imaginary part modification value, and perform IFFT to obtain the modified output characteristic parameter.

14. The apparatus for modifying an output characteristic parameter as claimed in claim 13, wherein the modifying unit is further configured to replace the real part and the imaginary part of the characteristic identification parameter after multiplying the real part modification value and the imaginary part modification value by a modification coefficient, respectively.

15. A ship vibration control method, characterized by comprising:

the output characteristic parameter correction method according to any one of claims 1 to 8, which corrects an output characteristic parameter of a filter module that outputs to control vibration of a ship according to the output characteristic parameter.

16. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to execute the output characteristic parameter correction method according to any one of claims 1 to 8 when executed.

Technical Field

The invention relates to the technical field of ship vibration control, in particular to an output characteristic parameter correction method, an output characteristic parameter correction device, a storage medium and a ship vibration control method.

Background

The control of the ship vibration and the noise caused by the vibration is always a hotspot and a key point of research in the ship field, and because the traditional passive control mode is difficult to meet the control requirement of the low-frequency vibration and the noise, the problems of the low-frequency vibration and the noise are usually solved by adopting an active control mode.

In the prior art, an active control system based on a Filtered-X Least Mean Square (FXLMS) algorithm is widely used. Due to the influence of the secondary channel including the control transmission channel from the control output to the vibration signal, the active control system needs to accurately identify the characteristics of the secondary channel in the control process, otherwise, a larger error is generated when the output signal reaches the vibration elimination object.

Currently, there are two main ways to identify the characteristics of the secondary channel: offline identification and online identification.

The off-line identification means that if the characteristics of the secondary channel in the control system are basically kept unchanged, the secondary channel can be identified before active control to obtain the vibration propagation characteristic parameters of the secondary channel, the vibration propagation characteristic parameters are kept unchanged in the active control process, and the output of the filter is controlled according to the fixed vibration propagation characteristic parameters to perform vibration control. The biggest disadvantage of off-line identification is that when the characteristics of the secondary channel change, the active control system cannot change the vibration propagation characteristic parameters in time, resulting in reduced control effect and even control failure.

The on-line identification means that if the characteristics of the secondary channel change during the active control, the characteristic identification parameters of the secondary channel are identified in real time while the active control is performed, and the filter is controlled by using the vibration propagation characteristic parameters obtained by real-time identification in the active control process. The biggest disadvantage of online identification is that random white noise needs to be additionally superimposed on the output signal, and a filter is additionally added to filter the white noise, and the influence of the white noise cannot be eliminated from the output signal of the active control system, and the divergence of the output result of the active control system may not be converged.

When the active control system and method based on the filtering type least mean square algorithm are applied to a ship power system, the characteristics of a secondary channel of the active control system can be changed to a certain degree along with the working condition change and the sea condition change of the ship power system, so that the problems of low control effect and easy control failure risk exist when the conventional active control system and method are directly applied to the ship.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, provides an output characteristic parameter correction method, an output characteristic parameter correction device, a storage medium and a ship vibration control method, and solves the problems that the existing active control system and method are low in control effect and easy to generate control failure risks.

In order to achieve the above object, the present invention provides an output characteristic parameter correction method for providing an output characteristic parameter to a filter module so that the filter module can output and control vibration of a vibration damping object according to the output characteristic parameter, the method comprising the steps of: s1, determining output characteristic parameters to be corrected of the filtering module; s2, when the filtering module outputs the output characteristic parameters to be corrected, the current vibration frequency of the vibration elimination object is obtained in real time; and S3, when the current vibration frequency exceeds a preset value, obtaining an output characteristic parameter correction value according to the current vibration frequency, and correcting the output characteristic parameter to be corrected based on the output characteristic parameter correction value.

Optionally, the step S1 includes the following steps: s11, in a stable state, inputting reference vibration to a vibration elimination object, adjusting the output characteristic parameters of the filtering module until a preset condition is met, and taking the adjusted output characteristic parameters as the initial output characteristic parameters to be corrected of the filtering module.

Optionally, the step S11 is specifically as follows: s111, inputting reference vibration to a vibration elimination object in a stable state, and inputting restraining vibration to the vibration elimination object through the filtering module; s112, obtaining the vibration frequency of the vibration elimination object under the combined action of the reference vibration and the suppression vibration; s113, adjusting the output characteristic parameters of the filtering module according to the vibration frequency of the vibration elimination object until the vibration frequency of the vibration elimination object is smaller than a preset value, and taking the adjusted output characteristic parameters as the initial output characteristic parameters to be corrected of the filtering module.

Optionally, the step S1 further includes the following steps: and S12, regarding the non-initial output characteristic parameters of the filtering module, taking the output characteristic parameters obtained after the correction in the step S3 as the output characteristic parameters to be corrected in the step S1.

Optionally, in step S3, the method for obtaining the output characteristic parameter correction value according to the current vibration frequency is as follows: and performing analog adjustment on the output characteristic parameter of the filtering module according to the current vibration frequency until the sum of the current vibration frequency and the analog output of the filtering module is less than a preset value, and taking the output characteristic parameter obtained after analog adjustment as the corrected value of the output characteristic parameter.

Optionally, the output characteristic parameter correction value includes a real part correction value and an imaginary part correction value of the output characteristic parameter.

Optionally, in step S3, the method for correcting the output characteristic parameter based on the output characteristic parameter correction value is as follows: and performing FFT (fast Fourier transform) on the output characteristic parameters to obtain a real part and an imaginary part of the output characteristic parameters, correcting the real part and the imaginary part of the output characteristic parameters according to the real part correction value and the imaginary part correction value, and performing IFFT (inverse fast Fourier transform) to obtain the corrected output characteristic parameters.

Optionally, the modifying is to replace the real part and the imaginary part of the characteristic identification parameter after multiplying the real part modification value and the imaginary part modification value by a modification coefficient, respectively.

The invention also provides a correcting device of the output characteristic parameters, which is used for providing the output characteristic parameters for the filtering module so that the filtering module can output and control the vibration of the vibration damping object according to the output characteristic parameters, and comprises a frequency detection unit and a correcting unit, wherein the frequency detection unit is used for acquiring the current vibration frequency of the vibration damping object in real time; the correction unit is used for obtaining an output characteristic parameter correction value according to the current vibration frequency when the current vibration frequency exceeds a preset value, and correcting the output characteristic parameter to be corrected of the filtering module based on the output characteristic parameter correction value.

Optionally, the device for correcting the output characteristic parameter further includes an output characteristic parameter identification unit to be corrected, where the output characteristic parameter identification unit to be corrected is configured to input reference vibration to a vibration canceling object in a stable state, adjust the output characteristic parameter of the filtering module until a preset condition is met, and use the adjusted output characteristic parameter as the initial output characteristic parameter to be corrected of the filtering module.

Optionally, the correction unit is configured to perform analog adjustment on the output characteristic parameter of the filtering module according to the current vibration frequency until a sum of the current vibration frequency and an analog output of the filtering module is smaller than a preset value, and use the output characteristic parameter obtained after the analog adjustment as the output characteristic parameter correction value.

Optionally, the output characteristic parameter correction value includes a real part correction value and an imaginary part correction value of the output characteristic parameter.

Optionally, the modifying unit is further configured to perform FFT on the output characteristic parameter to obtain a real part and an imaginary part of the output characteristic parameter, modify the real part and the imaginary part of the output characteristic parameter according to the real part modification value and the imaginary part modification value, and perform IFFT to obtain a modified output characteristic parameter.

Optionally, the correction unit is further configured to multiply the real part correction value and the imaginary part correction value by a correction coefficient, respectively, and then replace the real part and the imaginary part of the characteristic identification parameter.

The invention also provides a ship vibration control method, the control method provides the output characteristic parameters for the filtering module according to the output characteristic parameter correction method, and the filtering module outputs according to the output characteristic parameters to control the vibration of the ship.

The invention also provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the output characteristic parameter correction method when running.

The invention has at least the following beneficial effects:

the invention provides an output characteristic parameter correction method, an output characteristic parameter correction device and a storage medium, which combine the advantages of off-line identification and on-line identification and can provide proper output characteristic parameters for a vibration control filter module. In the method provided by the invention, the initial output characteristic parameter to be corrected of the filtering module is determined in advance through an off-line identification method, and during each operation, the filtering module firstly outputs the vibration suppression according to the output characteristic parameter to be corrected, so that the on-line operation is not needed, the vibration control of a vibration canceling object can be quickly realized, the noise of the vibration canceling object is further reduced, namely the initial quick vibration control is realized through the off-line identification method, and the timeliness of the control is improved; meanwhile, when the vibration frequency of the vibration elimination object exceeds a preset value, the output characteristic parameter to be corrected is corrected in real time through an online identification method, the problems that the offline identification control effect is reduced and even the control is invalid due to the change of a secondary channel are solved, effective vibration control is finally achieved, and further the control of noise caused by vibration is achieved.

When the output characteristic parameter correction method provided by the invention is applied to ship vibration control, the problems that the vibration propagation characteristic parameters of the secondary channel change due to the working condition change and sea condition change of the power system of the ship, and further the vibration control effect is poor and the control is invalid can be effectively solved, and the effective control on the ship vibration and noise can be guaranteed.

Drawings

Fig. 1 schematically illustrates steps of an output characteristic parameter correction method according to the present invention.

Fig. 2 schematically illustrates a step of determining an output characteristic parameter to be corrected of the filtering module according to the present invention.

Fig. 3 is a schematic diagram illustrating the steps of determining the initial output characteristic parameter to be corrected of the filtering module according to the present invention.

Fig. 4 illustrates a schematic diagram of determining an initial output characteristic parameter to be corrected of the filtering module in the present invention.

Fig. 5 shows an exemplary schematic diagram of the determination of the correction value of the output characteristic parameter according to the invention.

Fig. 6 is a schematic diagram schematically showing an output characteristic parameter correction apparatus according to the present invention.

Fig. 7 schematically shows another schematic diagram of the output characteristic parameter correction apparatus in the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, the present invention provides an output characteristic parameter correction method, for providing the output characteristic parameter for a filter module, so that the filter module can output a damping vibration according to the output characteristic parameter, and further control the vibration of a vibration damping object, the method includes the following steps:

s1, determining output characteristic parameters to be corrected of the filtering module;

s2, when the filtering module outputs the output characteristic parameters to be corrected, the current vibration frequency of the vibration elimination object is obtained in real time;

and S3, when the current vibration frequency exceeds a preset value, obtaining an output characteristic parameter correction value according to the current vibration frequency, and correcting the output characteristic parameter to be corrected based on the output characteristic parameter correction value.

The filtering module may be a finite long single-bit Impulse response filter of a certain order, that is, an fir (finite Impulse response) filter, and when the filtering module is adjusted according to the output characteristic parameter, the filtering module can simulate the propagation characteristic of the system in which the vibration canceling object is located in the secondary channel, so as to output suppressed vibration similar to the actual vibration of the vibration canceling object, for example, the output characteristic parameter may be a weight vector coefficient of the filtering module.

The vibration control of the vibration elimination object refers to that under the condition that the vibration elimination object is subjected to interference vibration, the current vibration frequency of the vibration elimination object is obtained through a frequency detection unit, and the filter module outputs suppression vibration with proper frequency to the vibration elimination object so as to suppress the interference vibration suffered by the vibration elimination object.

Hereinafter, each step will be described by way of example.

In some embodiments, referring to fig. 1 in combination with fig. 2, in the step S1, the output characteristic parameter to be corrected is specifically determined by the following step S11 or step S12.

Wherein, the step S11 is as follows: and for the initial output characteristic parameters of the filtering module, inputting reference vibration to a vibration elimination object in a stable state, adjusting the output characteristic parameters of the filtering module until a preset condition is met, and taking the adjusted output characteristic parameters as the initial output characteristic parameters to be corrected of the filtering module.

Further, referring to fig. 3, step S11 is an off-line identification method, that is, before the vibration-damping object obtains external vibration interference, the initial output characteristic parameter to be corrected of the filter module is determined in advance by inputting reference vibration, instead of determining the initial output characteristic parameter to be corrected of the filter module in real time on line while being interfered by the external vibration. The step S11 includes the following steps S111 to S113.

And S111, inputting reference vibration to a vibration elimination object in a stable state, and inputting restraining vibration to the vibration elimination object by the filtering module. The stable state refers to that the vibration output characteristic parameters of the system in which the vibration elimination object is located are not changed when the system in which the vibration elimination object is located is in a stable state, for example, the system is in a non-working condition shutdown state; the filtering module is used for simulating the vibration propagation characteristic parameters of a system where the vibration-damping object is located under the secondary channel, so that the reference vibration can be suppressed by the suppression vibration output by the filtering module.

And S112, obtaining the vibration frequency of the vibration elimination object under the combined action of the reference vibration and the suppression vibration. The vibration frequency of the vibration-damping object can be obtained by a frequency detection unit, which can be a microphone or the like, such as a microphone array.

S113, adjusting the output characteristic parameters of the filtering module according to the vibration frequency of the vibration elimination object until the vibration frequency of the vibration elimination object is smaller than a preset value, and taking the adjusted output characteristic parameters as the initial output characteristic parameters to be corrected of the filtering module.

Specifically, referring to fig. 4, the step S113 employs a least Mean square adaptive algorithm, namely, an lms (least Mean square) adaptive algorithm, whose criterion is to minimize a Mean square error even if an expected value of a square of a sum of the reference vibration and the suppression vibration is minimized, and adjusts the output characteristic parameter of the filter module according to the criterion. Therefore, according to the adjusted output characteristic parameters of the filter module, under the condition that other conditions are not changed, the output of the filter module can propagate and suppress vibration to the vibration elimination object and realize vibration control on the vibration elimination object.

In fig. 4, a vibration propagation characteristic parameter of the system in which the vibration-damping object is located is p (z), an output characteristic parameter of the filtering module is w (z), a reference signal x (n) is input to the system in which the vibration-damping object is located and the filtering module, for example, a broadband white noise is used as the reference signal x (n), the reference signal x (n) is changed into a desired signal d (n) (i.e., reference vibration) after propagation in the system in which the vibration-damping object is located and reaches the vibration-damping object, the reference signal x (n) is filtered by the filtering module to obtain a suppression signal y (n) (i.e., suppression vibration) and reaches the vibration-damping object, an error signal e (n) is the sum of the desired signal d (n) and the suppression signal y (n), and in an ideal state, the desired signal d (n) and the suppression signal y (n) are equal in size and opposite in direction, the error signal e (n) is zero, that is, the vibration frequency of the vibration-damping object under the combined action of the reference vibration and the suppression vibration is zero.

The error signal e (n) and the input reference signal x (n) are also respectively input to a controller, and the controller adjusts the output characteristic parameters w (z) of the filtering module according to a Least Mean Square (LMS) algorithm, that is, a first Mean Square error function is constructed:

J₁＝e²(n)

wherein, e (n) ═ x (n) × w (z) + d (n), the mean square minimum of the error signal e (n) is used as the performance index to carry out the self-adapting off-line identification, so as to obtain the first mean square error function J₁The minimum output characteristic parameter w (z). When the adaptive off-line identification process converges, the output characteristic parameter w (z) is the best estimation and simulation of the vibration propagation characteristic parameter p (z) of the system where the vibration object is located in the current secondary channel, and the suppression signal y (n) can best reproduce the expected signal d (n), wherein the error signal e (n) is minimum.

Therefore, in step S11 of the present invention, the initial output characteristic parameter of the filter module is determined in a stable state by an off-line identification method, and compared with the method of directly determining the initial output characteristic parameter by the existing on-line identification method, the present invention is helpful to reduce the computation workload of the overall vibration control method and increase the computation speed, thereby rapidly obtaining the initial output characteristic parameter of the filter module.

The step S12 is as follows: regarding the non-initial output characteristic parameters of the filtering module, the output characteristic parameters obtained after the correction in the step S3 are used as the output characteristic parameters to be corrected in the step S1.

In the initial state, the initial output characteristic parameters of the filtering module need to be determined through the foregoing step S11; in the non-initial state, that is, when the output characteristic parameter has been corrected according to the steps S1 to S3, the corrected output characteristic parameter obtained in the previous step S3 is directly used as the output characteristic parameter to be corrected in the step S1, and the correction of the output characteristic parameter at the next time is performed again based on the corrected output characteristic parameter.

Therefore, in the non-initial operation state, according to the correction result in step S3 of the present invention, in step S12 of the present invention, the output characteristic parameter to be corrected is provided for the operation of the subsequent correction method, and the output characteristic parameter to be corrected is closer to the output characteristic parameter to be obtained after the subsequent correction, which is helpful for reducing the calculation amount and increasing the calculation speed of the subsequent operation of the correction method.

In some embodiments, in step S3, the method for obtaining the output characteristic parameter correction value according to the current vibration frequency is as follows: and performing analog adjustment on the output characteristic parameter of the filtering module according to the current vibration frequency until the sum of the current vibration frequency and the analog output of the filtering module is less than a preset value, and taking the output characteristic parameter obtained after analog adjustment as the corrected value of the output characteristic parameter.

Specifically, referring to fig. 5, the current output signal output by the controller to the filtering module is u (t), and the analog suppression signal y reaching the vibration canceling object after being propagated and filtered is simulated according to the output characteristic parameter to be corrected^*(t) (i.e. the analog output of the filtering module), obtaining a current vibration signal e (t) corresponding to the current vibration frequency according to the current vibration frequency, and taking the current vibration signal e (t) as an initial analog vibration signal e^*(t) performing analog adjustment on the output characteristic parameter to be corrected, for example, performing analog adjustment by using an LSM adaptive algorithm until the analog output characteristic parameter of the filtering module can enable the analog vibration signal e^*(t) and the analog suppression signal y^*(t) the sum of E (t) meets a preset condition, such as that the current vibration frequency corresponding to E (t) is less than a preset frequency. Then, will simulateAnd the simulation output characteristic parameter finally obtained after adjustment is used as the output characteristic parameter correction value, and the real output characteristic parameter of the filtering module is corrected based on the output characteristic parameter correction value, so that after correction, the real output y (t) realized by the filtering module according to the corrected output characteristic parameter can effectively inhibit the vibration of the vibration elimination object.

Further, in step S3, the output characteristic parameter correction value includes a real part correction value and an imaginary part correction value of the output characteristic parameter.

Specifically, referring to fig. 5, the current output signal output by the controller to the filtering module is u (t), and the analog suppression signal y reaching the vibration canceling object after being propagated and filtered is simulated according to the output characteristic parameter to be corrected^*(t) (i.e. the analog output of the filtering module), obtaining a current vibration signal e (t) corresponding to the current vibration frequency according to the current vibration frequency, and taking the current vibration signal e (t) as an initial analog vibration signal e^*(t) of (d). Thus, it can be seen that:

E(t)＝P[u(t)]+e(t)

wherein E (t) is an analog vibration signal e^*(t) analog suppression of the signal y^*(t) simulating the simulated actual vibration of said vibration-damped object after damping, P [ u (t)]Representing the time domain response resulting after the control signal u (t) has excited the secondary channel P.

Generally, the current vibration signal is a harmonic signal, and thus the current vibration signal e (t) can be expressed as:

e(t)＝e_ccos(ωt)+e_ssin(ωt)

wherein ω is the current vibration frequency of the vibration damping object, which is detected by a frequency detection unit; e.g. of the type_cIs the real part, e, of the current vibration signal e (t)_sIs the imaginary part of the current vibration signal e (t).

Under steady state excitation, the output signal u (t) is a harmonic signal with the same frequency as the current vibration signal:

u(t)＝u_ccos(ωt)+u_ssin(ωt)

wherein u is_cIs the real part of the output signal u (t), u_sIs the imaginary part of the output signal u (t).

In combination with the expression of e (t), it can be seen that under steady state response:

wherein, P_R ^*And P_I ^*Respectively represents the real part correction value and the imaginary part correction value of the output characteristic parameter when the current vibration frequency is omega.

And determining appropriate real part correction value and imaginary part correction value by adopting a minimum mean method, namely constructing a second minimized objective function:

J₂＝E²(t)/2

and performing simulation estimation on the real part correction value and the imaginary part correction value by adopting a gradient descent method, wherein the recursion form of a simulation estimation formula is as follows:

wherein g represents an update iteration step size, which affects the search speed of the algorithm, and a smaller value can be usually adopted to ensure the stability of the algorithm.

Then, fast fourier transform (i.e. FFT transform) is performed on the output characteristic parameters w (z) to obtain the real part and the imaginary part of the output characteristic parameters, the real part and the imaginary part of the output characteristic parameters are corrected according to the real part correction value and the imaginary part correction value, and inverse fast fourier transform (i.e. IFFT transform) is performed to obtain the corrected output characteristic parameters.

Specifically, the modifying is to replace the real part and the imaginary part of the characteristic identification parameter after multiplying the real part modification value and the imaginary part modification value by a modification coefficient, respectively. For example, the correction coefficient may be 0.5, 0.8, 1, etc., and may be selected according to actual requirements, and ideally, the optimum correction coefficient is 1, that is, the real part of the characteristic identification parameter is replaced by the real part correction value, and the imaginary part of the characteristic identification parameter is replaced by the imaginary part correction value.

Therefore, in the active control process, the current vibration frequency of the vibration-damping object is detected in real time, the vibration propagation characteristic parameter of the system where the vibration-damping object is located under the secondary channel is simulated by using an online identification method under the condition that the current vibration frequency exceeds a preset value, namely, the control fails, so as to obtain the output characteristic parameter correction value of the filter module, the output characteristic parameter to be corrected is corrected according to the output characteristic parameter correction value, and the filter module controls the vibration of the vibration-damping object according to the corrected output characteristic parameter, so that the vibration is effectively controlled, and white noise which cannot be eliminated is not required to be input additionally.

In summary, the output characteristic parameter correction method provided by the present invention combines the advantages of offline identification and online identification, and can provide a suitable output characteristic parameter for the filtering module for vibration control. In the method provided by the invention, the initial output characteristic parameter to be corrected of the filtering module is determined in advance through an off-line identification method, the filtering module firstly performs vibration suppression output according to the output characteristic parameter to be corrected during each startup operation, and the on-line operation is not needed, so that the vibration control of a vibration canceling object can be rapidly realized, the noise of the vibration canceling object is further reduced, namely the initial rapid vibration control is realized through the off-line identification method, and the timeliness of the control is improved; meanwhile, when the vibration frequency of the vibration elimination object exceeds a preset value, the output characteristic parameter to be corrected is corrected in real time through an online identification method, the problems that the offline identification control effect is reduced and even the control is invalid due to the change of a secondary channel are solved, and effective vibration and noise control is finally realized.

Referring to fig. 6 to 7, the present embodiment further provides a correction device for an output characteristic parameter, which provides the output characteristic parameter for a filter module by operating the above output characteristic parameter correction method, so that the filter module can output and control the vibration of a vibration damping object according to the output characteristic parameter.

Referring to fig. 6, the output characteristic parameter correcting apparatus includes a frequency detecting unit and a correcting unit. The frequency detection unit is used for acquiring the current vibration frequency of the vibration elimination object in real time; the correction unit is used for obtaining an output characteristic parameter correction value according to the current vibration frequency when the current vibration frequency exceeds a preset value, and correcting the output characteristic parameter to be corrected of the filtering module based on the output characteristic parameter correction value.

In some embodiments, the correction unit is configured to perform analog adjustment on the output characteristic parameter of the filtering module according to the current vibration frequency until a sum of the current vibration frequency and an analog output of the filtering module is smaller than a preset value, and use the output characteristic parameter obtained after the analog adjustment as the output characteristic parameter correction value.

Specifically, the output characteristic parameter correction value includes a real part correction value and an imaginary part correction value of the output characteristic parameter.

Further, the modifying unit is further configured to perform FFT on the output characteristic parameter to obtain a real part and an imaginary part of the output characteristic parameter, modify the real part and the imaginary part of the output characteristic parameter according to the real part modification value and the imaginary part modification value, and perform IFFT to obtain a modified output characteristic parameter.

For example, the correction unit multiplies the real part correction value and the imaginary part correction value by a correction coefficient, and then replaces the real part and the imaginary part of the characteristic identification parameter, so as to correct the output characteristic parameter.

In some embodiments, referring to fig. 7, the apparatus for modifying an output characteristic parameter further includes an output characteristic parameter identification unit to be modified, where the output characteristic parameter identification unit to be modified is configured to, in a stable state, input reference vibration to a vibration-damping object, adjust an output characteristic parameter of the filtering module until a preset condition is met, and use the adjusted output characteristic parameter as an initial output characteristic parameter to be modified of the filtering module.

It can be understood that the output characteristic parameter correction device may be configured to implement the output characteristic parameter correction method, and the specific method steps in the embodiment of the output characteristic parameter correction method may all be performed by the output characteristic parameter correction device, which is not described in detail in this embodiment.

In summary, the correction device for output characteristic parameters provided by the present invention combines the advantages of offline identification and online identification, and can provide suitable output characteristic parameters for the filtering module for vibration control. In the correction device provided by the invention, the output characteristic parameter identification unit to be corrected determines the initial output characteristic parameter to be corrected of the filter module by an off-line identification method, the filter module firstly performs output of restraining vibration according to the output characteristic parameter to be corrected during each startup operation, and does not need to perform on-line operation in real time, so that vibration control on a vibration object can be rapidly realized and further the noise of the vibration object is reduced, namely the rapid vibration control at the initial stage is ensured by the output characteristic parameter identification unit to be corrected, and the timeliness of the control is improved; meanwhile, when the vibration frequency of the vibration elimination object exceeds a preset value, the output characteristic parameter to be corrected is corrected in real time through the correction unit, the problems that the off-line recognition control effect is reduced and even the control is invalid due to the change of the secondary channel are solved, and effective vibration and noise control is finally achieved.

The invention also provides a ship vibration control method, the output characteristic parameters are provided for the filtering module according to the output characteristic parameter correction method, and the filtering module outputs according to the output characteristic parameters so as to control the vibration of the ship.

The output characteristic parameter correction method comprises the following steps:

s1, determining output characteristic parameters to be corrected of the filtering module;

s2, the filtering module outputs the output characteristic parameters to be corrected, and obtains the current vibration frequency of the vibration elimination object in real time;

and S3, when the current vibration frequency exceeds a preset value, obtaining an output characteristic parameter correction value according to the current vibration frequency, and correcting the output characteristic parameter to be corrected based on the output characteristic parameter correction value.

The initial output characteristic parameter to be corrected may be obtained in the non-operating state of the stop of the ship in the step S11.

It can be understood that the specific method steps of the output characteristic parameter correction method are the same as the specific method steps in the foregoing embodiment of the output characteristic parameter correction method, and are not described in detail in this embodiment.

In summary, the invention provides a ship vibration control method, and the output characteristic parameter correction method is applied to the vibration control of a ship, so that the problems that the ship characteristic parameters of a secondary channel change due to the working condition change of a power system of the ship and the sea condition change, and further the vibration control effect is poor or even the control is invalid can be effectively reduced, and the effective control of the ship vibration and the noise can be ensured.

Furthermore, portions of the present invention may be applied as a computer program product, such as computer program instructions, which, when executed by a computer, may invoke or provide methods according to the present invention through the operation of the computer to achieve corresponding technical effects. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions.