高速三体船运动仿真与姿态控制研究

发布时间：2018-08-12 15:46

【摘要】：高速三体船作为高性能船舶的代表,由于优异的性能成为研究的热点。高速三体船的主体和侧体均为细长体结构,具有优异的快速性和稳定性。然而高速航行下的三体船剧烈的纵向运动成为制约三体船得到广泛应用的问题。因此,研究高速三体船的减纵摇具有重要意义。本文采用T型翼作为机械减摇装置,采用合理的控制方法设计了控制器对多种工况下T型翼对三体船的减摇效果进行了仿真分析。本文首先利用ANSYS AQWA对三体船进行水动力特性分析,得到三体船的各项水动力系数;根据随机海浪理论建立了引起三体船纵向运动的随机海浪数学模型;考虑实船和船模的尺度效应,利用FLUENT软件对T型翼进行了流体力学分析得到T型翼的升力模型,进而建立带T型翼的高速三体船的纵向运动数学模型。由于要研究T型翼在不同攻角时能够提供的升力大小,本文采用参数化管理的方法,只需要在FLUENT中进行一次网格划分和相关求解参数设定就可以得到各攻角下的升力和升力系数,极大提高了仿真效率。然后,对三体船进行开环运动分析,研究了影响三体船纵向运动的因素。通过在规则波下分析不同遭遇频率和不同航速下三体船的纵向运动响应,得出遭遇频率和航速是影响三体船纵向运动的重要因素。通过分析不规则波下带T型翼的三体船的纵向运动响应,更真实的展现了 T型翼对三体船的减摇效果。最后,设计了三体船的姿态控制器,对T型翼的减纵摇进行了仿真。为了更好的实现减摇,采用了最优二次型控制和滑模变结构控制两种方法设计了 T型翼的姿态控制器。LQR控制考虑了三体船纵摇和垂荡耦合关系,且采用LQR控制方法设计的控制系统易于实现状态反馈。滑模变结构控制则适合于解决不确定非线性系统,且具有很强的鲁棒性。利用MATLAB/SIMULINK建立了带T型翼的三体船的纵向运动控制仿真模型,并进行了仿真。仿真结果证明在两种姿态控制器的作用下,T型翼能够有效的减小三体船的纵向运动。
[Abstract]:As a representative of high-performance ship, high-speed trimaran has become a hot research area because of its excellent performance. The main body and side body of high speed trimaran are slender body structure with excellent rapidity and stability. However, the severe longitudinal movement of trimaran at high speed becomes a problem that restricts the wide application of trimaran. Therefore, it is of great significance to study the anti-pitching of high-speed trimaran. In this paper, the T-shaped wing is used as the mechanical anti-rolling device, and the controller is designed to simulate and analyze the anti-rolling effect of the T-wing to trimaran under various working conditions using a reasonable control method. In this paper, the hydrodynamic characteristics of the trimaran ship are analyzed by ANSYS AQWA, and the hydrodynamic coefficients of the trimaran ship are obtained, and the mathematical model of the longitudinal motion of the trimaran ship is established according to the stochastic wave theory. Considering the scale effect of solid ship and ship model, the lifting force model of T wing is obtained by using FLUENT software, and the longitudinal motion mathematical model of high speed trimaran with T wing is established. In order to study the lift of T wing at different angles of attack, the parameterized management method is used in this paper. The lift and lift coefficients at each angle of attack can be obtained by only one mesh generation and parameter setting in FLUENT, and the efficiency of simulation is greatly improved. Then, the open loop motion of trimaran is analyzed, and the factors influencing the longitudinal motion of trimaran are studied. By analyzing the longitudinal motion response of trimaran with different encounter frequency and different speed under regular wave, it is concluded that the encounter frequency and speed are important factors affecting the longitudinal motion of trimaran. By analyzing the longitudinal motion response of trimaran with T-shaped wing under irregular wave, the anti-rolling effect of T-wing to trimaran is shown more truly. Finally, the attitude controller of the trimaran is designed, and the pitch reduction of the T-wing is simulated. In order to reduce rolling better, two methods, optimal quadratic control and sliding mode variable structure control, are used to design the attitude controller. LQR control of T-shaped wing takes into account the coupling relationship between pitching and swaying of a trimaran ship. The control system designed by LQR control method is easy to realize state feedback. Sliding mode variable structure control is suitable for solving uncertain nonlinear systems and has strong robustness. The longitudinal motion control simulation model of a trimaran with T wing is established by using MATLAB/SIMULINK, and the simulation is carried out. The simulation results show that the T-shaped wing can effectively reduce the longitudinal motion of the trimaran under the action of two attitude controllers.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U664.82;TP391.9

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