水面舰艇在高海情下的横摇运动姿态控制技术研究
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摘要
由于船舶航行时所处的海洋环境的复杂性，船舶运动是一个非常复杂的运动，船舶横摇运动是考虑得最多的船舶运动。
为实施对船舶运动姿态得控制，本文推导了利用舵、鳍进行横摇控制的数学模型，并作了合理的简化，然后利用STF切片法，计算得到数学模型中的各水动力系数。
为了对各种非线性控制方案的控制效果进行评估，以及对船舶在风浪中的耐波性能进行预报，本文在充分利用成熟的切片理论的基础上，提出了考虑横摇运动中的非线性阻尼和非线性复原力矩项的舰船运动仿真模型，通过高海情中水池船模试验验证，表明该模型的横摇运动预报精度优于传统的频域预报方法。
通过仿真研究，并结合阀控液压舵机系统的特点，本文研究了船舶横摇运动几种控制方法，包括定常线性二次型最优控制，单输入定常离散快速控制，混合逻辑动态控制以及自适应广义预测控制，并进行了仿真计算。通过对控制性能的比较，本文确定了以广义预测控制作为舵减横摇水池船模试验的控制方案，并对广义预测控制的性能进行了分析。
为验证横摇运动控制效果，本文进行了水池船模试验。船模试验结果表明：利用本文的控制方案在减少舵机动作次数的同时，获得了较好的横摇减摇效果，为舵减横摇技术的工程应用实施提供了切实可行的控制方案。
在基本完成了船舶横摇运动控制后，在本文的最后提出了利用高效襟翼斜舵同时实现纵、横摇运动控制技术，并进行了初步仿真探讨，仿真结果表明：采用该方式进行船舶纵、横摇运动姿态的控制是有效、可行的。
For the complexity of ocean environment, the motion of ship is a very complex movement. Roll is considered as the most significant motion in all of it.
In order to control the roll of ship, a mathematics model of roll control by rudder or fin was developed in the thesis. All hydrodynamic parameters in the model were calculated by STF strip method. For evaluation the roll control effectiveness of various nonlinear control algorithm and forecast the seakeeping performance, a simulation model in time domain was developed. Correction of nonlinear damping and nonlinear restore moment of ship was concerned in the model. The result of ship model test in high sea condition indicated that the accuracy of prediction by the use of model developed in this paper was better than traditional frequency analysis method.
From the result of preparatory simulation and take account of the character of valve-controlled hydraulic steering system, Several control algorithm were simulated, such as LQG, MLD, Bang-Bang and self adaptive GPC. From the results we focus the Generalized predictive control (GPC) to be the control algorithm for ship model rudder roll damping test. The performance of GPC was analyzed.
The result from model test in wave basin shown the roll reduce effectiveness is satisfied while the times of switch of rudder is not so frequently. And this provided a practicable control algorithm to make the use rudder roll damping system in full-scale ship.
Roll and pitch controlled by means of a high efficient flap slant rudder was introduced and discussed in the end of the thesis.
为实施对船舶运动姿态得控制，本文推导了利用舵、鳍进行横摇控制的数学模型，并作了合理的简化，然后利用STF切片法，计算得到数学模型中的各水动力系数。
为了对各种非线性控制方案的控制效果进行评估，以及对船舶在风浪中的耐波性能进行预报，本文在充分利用成熟的切片理论的基础上，提出了考虑横摇运动中的非线性阻尼和非线性复原力矩项的舰船运动仿真模型，通过高海情中水池船模试验验证，表明该模型的横摇运动预报精度优于传统的频域预报方法。
通过仿真研究，并结合阀控液压舵机系统的特点，本文研究了船舶横摇运动几种控制方法，包括定常线性二次型最优控制，单输入定常离散快速控制，混合逻辑动态控制以及自适应广义预测控制，并进行了仿真计算。通过对控制性能的比较，本文确定了以广义预测控制作为舵减横摇水池船模试验的控制方案，并对广义预测控制的性能进行了分析。
为验证横摇运动控制效果，本文进行了水池船模试验。船模试验结果表明：利用本文的控制方案在减少舵机动作次数的同时，获得了较好的横摇减摇效果，为舵减横摇技术的工程应用实施提供了切实可行的控制方案。
在基本完成了船舶横摇运动控制后，在本文的最后提出了利用高效襟翼斜舵同时实现纵、横摇运动控制技术，并进行了初步仿真探讨，仿真结果表明：采用该方式进行船舶纵、横摇运动姿态的控制是有效、可行的。
For the complexity of ocean environment, the motion of ship is a very complex movement. Roll is considered as the most significant motion in all of it.
In order to control the roll of ship, a mathematics model of roll control by rudder or fin was developed in the thesis. All hydrodynamic parameters in the model were calculated by STF strip method. For evaluation the roll control effectiveness of various nonlinear control algorithm and forecast the seakeeping performance, a simulation model in time domain was developed. Correction of nonlinear damping and nonlinear restore moment of ship was concerned in the model. The result of ship model test in high sea condition indicated that the accuracy of prediction by the use of model developed in this paper was better than traditional frequency analysis method.
From the result of preparatory simulation and take account of the character of valve-controlled hydraulic steering system, Several control algorithm were simulated, such as LQG, MLD, Bang-Bang and self adaptive GPC. From the results we focus the Generalized predictive control (GPC) to be the control algorithm for ship model rudder roll damping test. The performance of GPC was analyzed.
The result from model test in wave basin shown the roll reduce effectiveness is satisfied while the times of switch of rudder is not so frequently. And this provided a practicable control algorithm to make the use rudder roll damping system in full-scale ship.
Roll and pitch controlled by means of a high efficient flap slant rudder was introduced and discussed in the end of the thesis.
引文
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