水面无人平台动力学建模及姿态稳定性研究

发布时间：2019-04-11 08:57

【摘要】：随着世界各国越来越重视海洋资源与海洋权益,各国间领海争端有急剧上升的态势。为维护我国领海主权,保障我国海洋权益,大力发展海军装备意义重大。随着无人化成为了战争的重要发展趋势,水中无人作战系统受到广泛重视,近年来各国相继加大了研究力度。结合水面和水下无人作战系统各自的优点,提出一种多用途水面无人平台的概念,该平台特指一种尺寸较小、结构紧凑、运输组装方便的特种作战平台,可用于预定海域的警戒侦察。该无人平台的结构形式、工作环境及任务要求与通常搭载于诸如车辆、舰船等大型运动载体的常规作战平台有较大差别,需要考虑水面应用环境与小尺寸漂浮平台的特殊性及其导致的动力学耦合问题。围绕该水面无人平台所面临的系统建模和姿态控制问题开展研究,对于水中无人作战系统的发展应用具有重要意义,也可为此类浮式特种平台的开发应用奠定基础。本文以一种水面无人平台为对象,对该平台的动力学特性及其姿态控制过程中存在的技术和理论问题进行了研究。对负载、载体和环境的特殊性导致的动力学耦合问题,以及在此基础上的平台数学建模和姿态控制策略进行了重点研究。为获得由浮式单元和平台载体构成的混合多浮体结构漂浮平台的运动特性以指导结构参数设计,基于理想流体三维势流理论和多刚体动力学,建立了漂浮平台的动力学模型。针对几种可行的结构方案,分别建立了漂浮平台整体动力学模型,分析了平台载体的运动响应。为减小流体动力对平台结构的影响,指导浮式单元阵列的排列方式,结合势流理论和GREEN函数法,求解了浮式单元阵列在不同排列方式下的水动力系数,得到了水动力作用与浮式单元阵列排列方式之间的分布规律。针对水面无人平台的结构特点,基于少自由度并联机构设计了改进的串并联稳定平台,并建立了数学模型。推导了并联稳定平台的运动学逆解方程；通过建立传动支链的速度映射关系,推导了系统的速度雅可比矩阵,基于Lagrange法建立了并联稳定平台的动力学模型。为简化动力学方程,比较分析了各部件惯性参数对平台动力学性能的影响。为了解运动副间隙对平台动力学特性的影响,基于改进的Hertz接触理论和非线性弹簧阻尼模型推导了含间隙传动支链的等效模型,建立了运动副含间隙的并联稳定平台动力学方程,结合数值计算和实验进行了分析验证。建立了考虑非完整约束特性的无人平台数学模型,为提高此类浮式平台的控制性能提供了一种途径。与现有稳定平台的模型相比,该模型考虑了负载与基座之间的耦合,对系统中的未建模动态进行了定量处理,因而更加接近实际情况。采用虚拟机构法和D-H法划分平台姿态变换矩阵并使其姿态角形式与并联稳定平台一致,基于Lagrange法建立了无人平台的整体动力学模型。针对自由漂浮非完整无人平台的流场作用,给出了恢复力矩的等效解析式和流场耦合项。鉴于该无人平台耦合作用较强、并联机构控制难度较大的问题,对水面无人平台的控制策略进行了研究,首先为完整约束无人平台设计了能普遍适用的工作空间复合鲁棒控制策略。采用了多自由度干扰观测器补偿系统耦合、参数摄动和干扰对平台的影响,并基于反步法设计了滑模控制器抑制未观测出的干扰并对目标轨迹实施跟踪。对于非完整约束无人平台,在改进复合鲁棒控制策略的基础上,采用部分反馈线性化方法变换非完整约束无人平台数学模型,设计了非完整约束无人平台的控制策略。最后通过仿真验证了上述各控制策略的鲁棒性和控制精度。根据系统要求设计和制作了原理样机的机械结构和软硬件,搭建了地面模拟实验系统；设计了地面模拟装置模拟波浪扰动,在实验室内开展了地面动态模拟实验。测试了系统的鲁棒性和控制精度,验证了本文所建模型和控制策略的正确性及有效性。
[Abstract]:As countries in the world pay more and more attention to marine resources and maritime rights and interests, there is a sharp rise in the territorial sea dispute between countries. In order to safeguard the sovereignty of our territorial sea and to guarantee the maritime rights and interests of our country, it is of great significance to vigorously develop the naval equipment. As no man-man has become an important development trend of the war, the unmanned combat system in the water has received extensive attention, and in recent years, the research has been intensified. The invention combines the advantages of the water surface and the underwater unmanned combat system, and provides the concept of a multi-purpose water surface unmanned platform, in particular to a special operation platform with small size, compact structure and convenient transportation and assembly, and can be used for warning and reconnaissance of a predetermined sea area. The structure form, working environment and task requirements of the unmanned platform are different from the conventional operational platforms, which are usually carried on large-scale sports carriers such as vehicles, ships and the like, and the special characteristics of the water surface application environment and the small-size floating platform and the dynamic coupling problems caused by the small-size floating platform need to be taken into consideration. The research on the system modeling and attitude control problems faced by the unmanned platform on the water surface is of great significance to the development and application of the unmanned combat system in water, and can lay a foundation for the development and application of the floating special platform. In this paper, a water surface unmanned platform is used as an object, and the dynamic characteristics of the platform and the technical and theoretical problems existing in the attitude control process are researched. In this paper, the dynamic coupling problem caused by the particularity of the load, the carrier and the environment, and the platform mathematical modeling and the attitude control strategy of the platform are studied. in order to obtain the motion characteristics of the floating platform of the mixed multi-floating body structure formed by the floating unit and the platform carrier to guide the design of the structural parameters, the power of the floating platform is established on the basis of the ideal fluid three-dimensional potential flow theory and the multi-rigid body dynamics, In this paper, the whole dynamic model of the floating platform is set up for several feasible structural schemes, and the transport of the platform carrier is analyzed. In order to reduce the influence of the fluid dynamic on the structure of the platform, the arrangement way of the floating unit array, the combination of the potential flow theory and the GREEN function method, the water movement of the floating unit array in different arrangement modes is solved. The force coefficient is the difference between the hydrodynamic action and the array arrangement of the floating unit array. In view of the structure of the unmanned platform of the water surface, the improved series-parallel stabilizing platform is designed based on the parallel mechanism of less freedom, and the structure is established. The mathematical model is established. The inverse kinematics equation of the parallel stable platform is derived. The velocity and Jacobian matrix of the system is derived by establishing the speed mapping relation of the transmission branched chain. The parallel stable platform is established based on the Lagrange method. In order to simplify the dynamic equation, the inertia parameters of each component are compared and the dynamics of the platform are compared and analyzed. In order to understand the influence of the motion pair clearance on the dynamic characteristics of the platform, the equivalent model with the clearance transmission branched chain is derived based on the modified Hertzian contact theory and the nonlinear spring damping model, and the parallel and stable platform with the clearance of the motion pair is established. The dynamic equation, combined with the numerical calculation and the experiment. The mathematical model of an unmanned platform considering the non-complete constraint characteristics is established to improve the control performance of the floating platform. Compared with the model of the prior stable platform, the model takes into account the coupling between the load and the base, By using the virtual mechanism method and the D-H method, the platform attitude transformation matrix is divided and the attitude angle form of the platform is consistent with the parallel stabilization platform, and the unmanned platform is established based on the Lagrange method. An equivalent analysis of the recovery torque is given for the flow field of a free-floating, non-complete unmanned platform. In view of the strong coupling effect of the unmanned platform, the problem that the parallel mechanism is difficult to control, the control strategy of the unmanned platform on the water surface is studied, In this paper, a multi-degree-of-freedom interference observer is used to compensate the influence of the system coupling, the parameter perturbation and the interference on the platform, and based on the anti-step method, the sliding mode controller is designed to suppress the unobserved interference. On the basis of improving the composite robust control strategy, a partial feedback linearization method is used to transform the non-complete constrained unmanned platform mathematical model and the non-complete constraint is designed for the non-complete constrained unmanned platform. and finally, the control strategy of the unmanned platform is verified through simulation, The robustness and control precision of the prototype are designed and made according to the requirements of the system. The mechanical structure and the hardware and software of the principle prototype are designed and made according to the requirements of the system, and the ground simulation experiment system is set up; the ground simulation device is designed to simulate the wave disturbance, and in the laboratory The dynamic simulation experiment of the ground is carried out. The robustness and control precision of the system are tested, and the model and control in this paper are verified.
【学位授予单位】：南京理工大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：U674.70

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