【作者】 张伟；

【导师】 刘志林；

【作者基本信息】 哈尔滨工程大学 ， 控制科学与工程， 2017， 硕士

【摘要】 双体船作为一种比较成熟的船型,在各个领域都得到了广泛的应用,其优良的性能得到了学界的一致肯定,由于双体船是由两片细长的船体组成、兴波阻力小。所以,高速的双体船也逐渐得到大力的发展。但是,在双体船航速提升的过程中,其纵向运动的剧烈程度也在逐渐增大,这种负面效果严重制约了高速双体船的发展。因此,研究双体船的纵向稳定性具有重要的意义,本文选用主动式T型翼作为附体减摇装置。采用模型预测控制算法对主动式T型翼的攻角进行控制,并在随机海浪干扰下,对双体船适配T型翼的减摇效果进行仿真分析。本文首先对双体船需要适配的主动式T型翼进行设计,包括T型翼翼型的选择;适配的T型翼面积和展弦比的确定;T型翼和双体船结合时支柱的选取以及安装位置和攻角的确定;最后根据需要安装的实船,选取液压驱动作为主动式T型翼的驱动方式。然后,通过刚体运动动量定理和相对于刚体运动的动量矩定理建立双体船纵向运动的非线性模型,并采用雅可比线性化的方法将其简化成可以用作控制器设计的线性状态空间模型。同时,根据随机海浪能量谱的叠加原理建立指定海况下随机海浪的时域模型。并介绍了晕船现象产生的机理原因,给出船舶航行时晕船率的经验公式,将其作为后面的控制器设计的依据。最后,通过一艘具体的双体船等比缩小模型的实验数据进行MATLAB仿真。首先利用实验数据用MATLAB系统识别工具箱拟合出指定海况下随机海浪对于恒速航行的双体船产生的干扰力和干扰力矩的传递函数。分析双体船模型在裸船情况下,和在安装了带有输入约束的模型预测控制器的T型翼的情况下,双体船升沉和纵摇的变化情况,以及对于晕船率的抑制情况。总结了模型预测控制对于双体船的纵向运动的改善。验证了本文所提出的算法具有可实现性。更多还原

【Abstract】 Catamaran as a more mature ship,have been widely used in various fields,its excellent performance has been unanimously affirmed by the academic community,because the catamaran is composed of two slender hull,wave resistance is small.The high-speed catamaran has also been vigorously developed.However,with the speed of the catamarans being increasing the vertical movement of the intensity is gradually increasing,this negative effect seriously hampered the development of high-speed catamaran.Therefore,the study of the longitudinal stability of the catamaran has important significance,this paper uses the active T-foil as the attached roll device.The model predictive control algorithm is used to control the angle of attack of the active T-foil,and doing simulation and analyzing about the catamaran with the T-foil by random wave interference.This paper first designs the active T-foil that the catamaran needs to adapt,including the selection of the T-foil airfoil,the adaptation of the T-foil area and the aspect ratio;and when the T-foil and the catamaran are combined the choice of the pillar and the installation location and the determination of the angle of attack;finally,selecting the hydraulic drive as the active T-foil drive,according to the need to install the actual ship.Then,a nonlinear model of the longitudinal motion of the catamarans is established by using the rigid body motion theorem and the law of moments of moments relative to the rigid body motion.And the Jacobi linearization method is used to simplify the linear state space model for the controller design.At the same time,the time-domain model of random sea waves under specified sea conditions is established,according to the superposition principle of random wave energy spectrum,and the reason of seasickness is introduced,the empirical formula of seasickness is given as the basis of the controller design.Finally,MATLAB simulation is carried out on the experimental data of a concrete model of catamaran ratio reduction.First of all,the transfer function of disturbance and disturbance torque of random ocean waves under fixed sea condition is simulated by MATLAB system identification toolbox.The change of catamaran’s heave pitch and the suppression of seasickness were analyzed in the case of bare ship and the T-foil with controller.The improvement of the model predictive control for the longitudinal motion of catamarans is summarized.The results show that the algorithm that this paper puts forward is feasible and can do it well..更多还原