【作者】 任俊生；

【导师】 杨盐生；

【作者基本信息】 大连海事大学 ， 交通运输工程， 2005， 博士

【摘要】 高速水翼船在从体航模式转换到翼航模式过程中,船体吃水逐渐减少使其容易受到外界环境干扰如风、浪等的影响,使水翼船的适航性降低。为此需要专门的控制系统以减小波浪而带来的船体摇荡。虽然已经有研究者利用传统控制理论的设计水翼船控制器,但是如何应用近年来控制理论的新成果进行设计仍然是一个需要研究的课题,并且以往的控制器设计不能满足在水翼船的整个工作区域上有效的特殊要求。为此本文提出了高速水翼船的数学模型,在此基础上利用近年来的控制理论新成果设计水翼船的控制器,并设计模糊增益规划控制器以满足其特殊要求。本文对高速水翼船运动建模和控制方面的主要工作和研究成果如下。 高速水翼船的数学模型不仅是研制其操纵模拟器的核心技术之一,也是设计控制器的重要依据和检验平台,因此本文从流体分析的角度提出高速水翼船垂荡和纵摇运动的数学模型。对模型中各个参数的计算方法,尤其是对水翼升力系数的计算,进行了较为详细的分析。高速水翼船具有在航行过程中船体姿态变化较大的特点,这将引起船体参数发生变化,因此本文提出拟合横剖面曲线的方法,在仿真过程中在线计算船型参数。并以高速水翼船HC200B-A1为例,利用Matlab的Simulink工具箱分别进行静水和波浪中的仿真研究。仿真研究的结果与船模水池试验数据对比表明,两者符合地较好,并且是符合航海实践的,因此所建立的高速水翼船运动非线性数学模型是可靠和令人满意的。 为了设计水翼船的控制器以提高其适航性,首先本文利用比例-微分(P-D)的方法设计水翼船的控制器,然而在同时对前、后襟翼进行控制时,传统的方法需要手工选择8个反馈系数。为此本文利用虚拟控制输入量的思想,把控制输入量分配在前、后襟翼,该方法仅需要手工调整4个系数。仿真结果表明该控制器设计具有良好的控制效果。为了进一步提高水翼船控制器的性能,本文利用近年来控制理论的研究新成果设计水翼船的控制器。为此本文对水翼船的非线性运动数学模型在设计速度点处进行线性化,提出了水翼船的线性状态空间模型,并在此基础上设计水翼船状态反馈H_∞控制器和输出反馈H_∞控制器。以高速水翼船HC200B-A1为例进行仿真研究,对状态反馈H_∞控制器与线性二次型调节器(LQR)更多还原

【Abstract】 Foil-assisted boat becomes sensitive to external disturbances, such as wind, wave and etc, during its transition from hull-borne mode to foil-borne mode. Therefore, special control system is required to ensure its seaworthness. Although some researchers have applied conventional control theories to its controller design, it is still a problem to make full use of the new results of control theory to design the controller. And furthermore, the previous designs cannot keep effective throughout the overall operating overlope. Therefore, the mathematical model is firstly proposed. Then, this paper designs its controller by use of newly developed control methods, and also meet its special requirement. Regarding motion modeling and control of foil-assisted boat, the main research results are presented as follows.Mathematical modeling is not only important to testify its controller design, but also one of the key technologies to develop the shiphandling simulator for foil-assisted boat. Therefore, through fluid analysis, the mathematical model is established of heave and pitch motions in waves. The calculations of the relevant parameters are detailed. In consideration of large fluctuations of some boat’s parameters during different operating mode, the method of fitting the curves of hull sections are proposed to calculate the parameters on line. To validate the effectiveness of the modeling process, based on such a boat, "HC200B-A1", simulation researches are carried out, by use of Matlab’s Simulink Toolbox. It’s shown that the simulation results agree with well the experimental data and also marine practice, and the model herein is competent and reliable in the future research.To design the boat’s attitude controller, firstly, a novel P-D (proportional-derivative) control scheme is addressed with controlled fore and aft flaps. The traditional P-D controller requires that 8 feedback gains be chosen manually, while herein only 4 parameters. The key idea lies in the introduction of virtual control input, which is distributed between fore and aft flaps. To further improve the performance of the attitude controller, the newly developed techniques of controller design are studied. Therefore the state space model is proposed through Jacobian linearization of the nonlinear model around its equilibrium. All the partial derivatives contained in the model are detailed. Based on the linear model, state-feedback H_∞ technique is thenutilized to design the attitude controller, whose performance index takes account of the boat’s exogenous disturbances. Simulation researches show that//~ attitude controller’s performance is better than linear quadratic regulator (LQR) scheme. Moreover, output-feedback H~ control technique is also employed, which is featured by not only the consideration of exogenous disturbances but also the need of only partially-known information from the boat’s states. Based on "HC200B-A1", simulation researches have demonstrated the efficiency of the designs.However, only in the vicinity of its design points are the aforementioned controller designs effective. However, it is found that attitude control strategies with fuzzy gain scheduling scheme are successful to overcome this drawback. Therefore, fuzzy controller design is studied based on T-S fuzzy model. (1) For nonlinear H~ control problem, a less conservative LMI-based //- fuzzy controller via T-S fuzzy model is proposed, and applied to attitude control for foil-assisted boat. The proposed /f~ fuzzy controller can guarantee that the closed-loop system is UUB (uniformly ultimately bounded) with prescribed H<~ control performance. (2) For nonlinear system with parametric uncertainties, a novel robust fuzzy controller design with much less conservetiveness is proposed. The controller can guarantee that the fuzzy system is asymptotically stable at its equalibrium. (3) Robust fuzzy 77- output feedback controller is also proposed for a class of nonlinear system in the presence of both parametric uncertainties and exogenous disturbances, by use of DPDC (dynamical parallel distributed compensation) scheme. Robust fuzzy //? controller can guarantee the asymptotical stability of T-S fuzzy system and //? control performance. Then, T-S fuzzy model for foil-assisted boat is proposed. And these fuzzy controller design schemes are applied to foil-assisted boat. Simulation reseaches have shown that the proposed schemes are effective throughout its operating range.更多还原