【作者】 赵为平；

【导师】 金鸿章；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2004， 博士

【摘要】 大型水面舰艇的综合平衡是船舶姿态控制中的一个新课题。舰艇作为一个海上的移动作战平台,对其综合平衡很重要。本课题的研究以大型舰艇为对象,以减摇鳍、减摇水舱和抗静倾的平衡水舱为基本控制单元,通过合理的配置组成大型水面舰艇综合平衡系统,使舰艇在系泊状态及各种航速下都能有效地减小横摇,补偿舰艇的装载不平衡,局部舱室破损、风压等各种因素引起的横倾。课题的研究,为设计装舰的综合平衡系统创造条件。 本论文的研究是基于“十五”国防预研项目“大型水面舰艇综合平衡系统总体技术研究”而进行的,主要研究大型水面舰艇综合平衡方法。 论文介绍了目前主要采用的减摇水舱和减摇鳍这两种减摇装置的特点,着重介绍了国内外综合平衡装置的发展和研究现状,并提出大型水面舰艇的综合平衡系统采用减摇鳍和减摇水舱综合减摇方案。 根据拉格朗日动力学方程及克雷洛夫-勃拉哥维辛斯的理论,首次建立了“船舶-减摇鳍-被动式减摇水舱”综合减摇系统的数学模型。在数学模型的基础上,讨论分析了综合平衡系统中减摇鳍与减摇水舱之间相互配合和相互制约的关系及系统的减摇性能。 在“船舶-减摇鳍-被动式减摇水舱”综合减摇系统的数学模型的基础上,建立了综合减摇装置的控制系统。讨论了综合减摇装置中减摇鳍和被动水舱的配置方法,分析了U型被动减摇水舱的设计方法。基于经济方面和系统减摇性能的综合考虑,最终提出了综合减摇装置的配置方法。 根据最优控制原理并考虑系统的实用性,采用遗传算法对综合减摇系统的PID控制器参数进行寻优。并根据实船数据进行了“船舶-减摇鳍-被动水舱”综合平衡系统的仿真分析,结果表明这种方法结合了减摇鳍与被动减摇水舱的优点,在任何航速下都具有较好的减摇能力,可以达到两种装置的互补。这种综合减摇装置与抗静倾均衡水舱系统协调组合,可以应对各种复杂的海况,使大型水面舰艇在全工况下达到理想的减摇效果。 根据综合平衡装置的功能,提出了综合平衡装置的组成方案。运用时域分析理论计算船舶在装卸货物过程中,在不规则外力作用下船舶的横摇运动;并采用计算机仿真了船舶在装卸货物过程中的横摇运动,以及抗横倾系统的更多还原

【Abstract】 The integrated balance system for large navy ships is a new subject in controlling of ship’s pose. The navy ship, as a movable fighting platform, needs better integrated balance than normal ships. The subject mainly talks about the integrated balance system which combined with fin stabilizer, anti-roll tank and anti-heel tank. The integrated balance system for large navy ships can reduce the ship roll effectively under mooring and seaway conditions. It can also make up the ship heel because of the loads, the damage of the ship’s hull and the wind pressure. The better condition for designing the integrated balance system will be created through the research.The dissertation, based on the national defense program "Research on the integrated balance system for large navy ships" in the Tenth five-year project, is mainly studying the method of the integrated balance system for large navy ships.The dissertation analyses the characters of fin stabilizer and anti-roll tank and introduce the development and research of the integrated balance system in foreign countries. Then an integrated anti-roll method, combined with fin stabilizer and anti-roll tank, is proposed to reduce the roll of the large navy ships.According to Lagrange dynamical equation and Kriloff theory, the mathematical model of integrated anti-roll system "ship -fin stabilizer-passive anti-roll tank" is built up. The anti-roll capability of the integrated anti-roll system and the relationship between the fin stabilizer and anti-roll tank is analyzed based on the mathematical model.The integrated anti-roll control system is established based on the "ship -fin stabilizer-passive anti-roll tank" mathematical model. After discussing the fitting method of fin stabilizer and anti-roll tank and analyzing the design method of "U-type" passive anti-roll tank, an fitting method of the integrated anti-roll system was proposed basing on the economical factor and the anti-roll capability of the system finally.According to the optimal control theory and considering the practicability of the system, genetic algorithm is used to optimize the parameters of the PID controller. The simulation was done based on a ship data, the results show that theintegrated anti-roll system has the advantages of the fin stabilizer and passive anti-roll tank, the anti-roll system has better anti-roll capability under different encountering wave directions and ship speeds. The integrated anti-roll system, combined with fin stabilizer , anti-roll tank and anti-heel tank, can reduce the large navy ships’ roll under complex sea condition and ship speeds.According to the function of the integrated balance system, a combining method of the integrated balance system was proposed. Using time domain theory to compute the ship roll motion under the irregular external force moment during loading and unloading. The ship roll and the working of the anti-heel system was simulated during loading and unloading; because the navy ships need higher anti-sink quality, a mathematical ship-roll model, combined with the theory of the flume anti-roll tank, is built up when the ship’s hull was damaged, then the dissertation discusses the ship roll and its balance when the ship’s hull was damaged.The subject, which is formed based on the present researches of fin stabilizer and anti-roll tank in China, has a good applied future.更多还原