Research On Wave Making Strategy Of Rocking Plate Wavemaker Based On Multi-axis Coupling Position Synchronous Motion Control

In the marine physics test pool,the wavemaker is the core marine electromechanical equipment that generates waves,and its motion control performance directly affects the quality of the target wave,and then affects the reliability of related marine field test data.In the past ten years,the wave-making performance of single-axis wavemakers has been unable to meet the technical requirements of marine experiments,and the development and application of multi-axis wavemakers have become the mainstream.In the study of wave-making motion control of multi-axis wave-making machines,it is important to ensure the coordinated motion control performance between wave-making machine systems,improve the synchronization motion control accuracy,and generate high-quality target waves.The specific research content is as follows:First of all,it summarizes the typical physical test pools at home and abroad and the supporting wavemaker equipment,introduces the current mainstream wavemaker motion control research status,and outlines the related control strategies of multi-axis synchronous motion control.Secondly,the three-dimensional modeling of the rocking-plate wavemaker of the subject research is carried out.Through Le Mehaute B theory,the applicable scope of the wave theory in the test pool is clarified,and under the linear micro-amplitude wave theory,the mathematical motion relationship between the wavemaker and the wave is derived.Establish the motion mathematical model of the wavemaker,build the corresponding speed loop control simulation system,and analyze the dynamic response characteristics of the speed loop control.Thirdly,the minimum relative axis deviation is used to couple synchronous motion control to control the position synchronous motion of the multi-axis wavemaker system.Due to the difference between the system parameters of the wavemakers of each axis,the PID controller parameters are difficult to tune.The sparrow search algorithm is used to tune the controller parameters to ensure that the system obtains better control performance.Considering the three situations of the actual wavemaker system: uncertain friction nonlinearity,unknown external load disturbance,and difficulty in obtaining accurate equivalent moment of inertia,an adaptive robust sliding mode control method is adopted to improve the adaptive characteristics and robust performance of the system.Finally,in the corresponding physical test pool,carry out wave making test verification.