穿浪双体船纵摇/升沉-水翼/尾板联合控制

This project mainly studies pitching/heave-hydrofoil/stern flap joint control for wave-piercing catamaran as project background. According to wave-piercing catamarans sailing with high speed in head sea, they are affected easily by external interference, such as wind, waves, currents, leading to serious pitching / heave motion. The generation mechanism of this problem is analyzed in-depth first. Then hydrofoil/stern flap joint control strategy is proposed to improve pitching/heave motion of wave-piercing catamaran. Under the constraint of energy consumption index, any rotation angle ratio of hydrofoil/stern flap joint control for wave-piercing catamaran is achieved by establishing the hydrodynamic model of hydrofoil/stern flap by introducing intelligent control strategy and synchronization control strategy. The controller designed in the project with a stable output in the entire speed range of wave-piercing catamaran can be ensured. The conservative of system controller is decreased and control performance is improved. The energy consumption is saved..This project aims to obtain new methods for a class of nonlinear systems analysis and synthesis to decrease the conservative of system design. Moreover, This Project aims to solve the practical application problem of wave-piercing catamaran pitching / heave control better and promotes the modernization equipment process of China's high-performance marines. Therefore, this project has important theoretical research value and practical application significance.

项目以穿浪双体船纵摇/升沉-水翼/尾板联合控制为工程背景。针对穿浪双体船在高速迎浪行驶时，容易受到外界如风、浪、流等的干扰，使船的纵摇/升沉运动剧烈这一问题，深入分析问题产生机理，首次提出水翼/尾板联合控制思想来改善穿浪双体船的纵摇/升沉运动。通过建立襟尾翼/尾压浪板水动力模型、在线襟尾翼/尾压浪板角并行遗传优化、引入智能控制策略及同步控制策略，实现能耗指标约束下穿浪双体船的水翼/尾板任意转角比联合控制，可保证所设计的控制器在穿浪双体船的整个航速范围都有稳定输出，降低系统控制器的保守性，并提高控制性能，节省能耗。.项目致力于获得一类非线性系统分析和综合的新方法，降低系统设计保守性。同时，旨在更好地解决穿浪双体船纵摇/升沉控制实际应用问题，促进我国高性能船舶现代化装备进程。因此课题具有重要的理论研究价值和实际应用意义。

穿浪双体船以其出色的性能受到世界各国的重视。但高速航行时，由于受到外界如随机海浪等的干扰，穿浪双体船的纵摇/升沉运动变得剧烈是限制其发展的重要因素。.针对穿浪双体船高速航行在随机海浪中纵摇/升沉运动剧烈问题，首次提出了在每个单体的附加可控式襟尾翼和可控式尾压浪板的设想，给出了襟尾翼/尾压浪板联合控制方案的体系结构；建立了基于MMG分离型的穿浪双体船纵摇/升沉运动控制系统非线性耦合模型，给出了穿浪双体船各个力及力矩的计算方法；设计了补偿EKF粒子滤波的穿浪双体船纵向运动控制系统状态随机估计器；设计了襟尾翼/尾压浪板电伺服系统，并针对永磁同步电机逆变器的死区效应对襟尾翼/尾压浪板电伺服系统性能的影响，提出了基于位置的动态死区效应补偿策略；由于襟尾翼/尾压浪板的运动不完全同步，提出了等状态耦合的双襟尾翼/双尾压浪板伺服系统同步控制策略；针对考虑穿浪双体船航速变化将导致其纵向运动姿态发生较大变化，提出了基于多参考模型自适应的穿浪双体船纵向控制策略，实现在穿浪双体船全航速工作区域上都有稳定输出；综合仿真表明：与无襟尾翼/尾压浪板联合控制作用时，穿浪双体船的纵摇/升沉运动及纵摇加速度/升沉加速度都有较大的改善，提高了穿浪双体船的适航性。.课题研究成果具有重要的学术价值和潜在的工程应用前景，部分研究成果可推广到其他高性能船舶的姿态控制领域中去。