【摘要】：隨著世界各國越來越重視海洋資源與海洋權(quán)益,各國間領(lǐng)海爭端有急劇上升的態(tài)勢。為維護我國領(lǐng)海主權(quán),保障我國海洋權(quán)益,大力發(fā)展海軍裝備意義重大。隨著無人化成為了戰(zhàn)爭的重要發(fā)展趨勢,水中無人作戰(zhàn)系統(tǒng)受到廣泛重視,近年來各國相繼加大了研究力度。結(jié)合水面和水下無人作戰(zhàn)系統(tǒng)各自的優(yōu)點,提出一種多用途水面無人平臺的概念,該平臺特指一種尺寸較小、結(jié)構(gòu)緊湊、運輸組裝方便的特種作戰(zhàn)平臺,可用于預(yù)定海域的警戒偵察。該無人平臺的結(jié)構(gòu)形式、工作環(huán)境及任務(wù)要求與通常搭載于諸如車輛、艦船等大型運動載體的常規(guī)作戰(zhàn)平臺有較大差別,需要考慮水面應(yīng)用環(huán)境與小尺寸漂浮平臺的特殊性及其導(dǎo)致的動力學(xué)耦合問題。圍繞該水面無人平臺所面臨的系統(tǒng)建模和姿態(tài)控制問題開展研究,對于水中無人作戰(zhàn)系統(tǒng)的發(fā)展應(yīng)用具有重要意義,也可為此類浮式特種平臺的開發(fā)應(yīng)用奠定基礎(chǔ)。 本文以一種水面無人平臺為對象,對該平臺的動力學(xué)特性及其姿態(tài)控制過程中存在的技術(shù)和理論問題進行了研究。對負載、載體和環(huán)境的特殊性導(dǎo)致的動力學(xué)耦合問題,以及在此基礎(chǔ)上的平臺數(shù)學(xué)建模和姿態(tài)控制策略進行了重點研究。 為獲得由浮式單元和平臺載體構(gòu)成的混合多浮體結(jié)構(gòu)漂浮平臺的運動特性以指導(dǎo)結(jié)構(gòu)參數(shù)設(shè)計,基于理想流體三維勢流理論和多剛體動力學(xué),建立了漂浮平臺的動力學(xué)模型。針對幾種可行的結(jié)構(gòu)方案,分別建立了漂浮平臺整體動力學(xué)模型,分析了平臺載體的運動響應(yīng)。為減小流體動力對平臺結(jié)構(gòu)的影響,指導(dǎo)浮式單元陣列的排列方式,結(jié)合勢流理論和GREEN函數(shù)法,求解了浮式單元陣列在不同排列方式下的水動力系數(shù),得到了水動力作用與浮式單元陣列排列方式之間的分布規(guī)律。 針對水面無人平臺的結(jié)構(gòu)特點,基于少自由度并聯(lián)機構(gòu)設(shè)計了改進的串并聯(lián)穩(wěn)定平臺,并建立了數(shù)學(xué)模型。推導(dǎo)了并聯(lián)穩(wěn)定平臺的運動學(xué)逆解方程；通過建立傳動支鏈的速度映射關(guān)系,推導(dǎo)了系統(tǒng)的速度雅可比矩陣,基于Lagrange法建立了并聯(lián)穩(wěn)定平臺的動力學(xué)模型。為簡化動力學(xué)方程,比較分析了各部件慣性參數(shù)對平臺動力學(xué)性能的影響。為了解運動副間隙對平臺動力學(xué)特性的影響,基于改進的Hertz接觸理論和非線性彈簧阻尼模型推導(dǎo)了含間隙傳動支鏈的等效模型,建立了運動副含間隙的并聯(lián)穩(wěn)定平臺動力學(xué)方程,結(jié)合數(shù)值計算和實驗進行了分析驗證。 建立了考慮非完整約束特性的無人平臺數(shù)學(xué)模型,為提高此類浮式平臺的控制性能提供了一種途徑。與現(xiàn)有穩(wěn)定平臺的模型相比,該模型考慮了負載與基座之間的耦合,對系統(tǒng)中的未建模動態(tài)進行了定量處理,因而更加接近實際情況。采用虛擬機構(gòu)法和D-H法劃分平臺姿態(tài)變換矩陣并使其姿態(tài)角形式與并聯(lián)穩(wěn)定平臺一致,基于Lagrange法建立了無人平臺的整體動力學(xué)模型。針對自由漂浮非完整無人平臺的流場作用,給出了恢復(fù)力矩的等效解析式和流場耦合項。 鑒于該無人平臺耦合作用較強、并聯(lián)機構(gòu)控制難度較大的問題,對水面無人平臺的控制策略進行了研究,首先為完整約束無人平臺設(shè)計了能普遍適用的工作空間復(fù)合魯棒控制策略。采用了多自由度干擾觀測器補償系統(tǒng)耦合、參數(shù)攝動和干擾對平臺的影響,并基于反步法設(shè)計了滑�？刂破饕种莆从^測出的干擾并對目標軌跡實施跟蹤。對于非完整約束無人平臺,在改進復(fù)合魯棒控制策略的基礎(chǔ)上,采用部分反饋線性化方法變換非完整約束無人平臺數(shù)學(xué)模型,設(shè)計了非完整約束無人平臺的控制策略。最后通過仿真驗證了上述各控制策略的魯棒性和控制精度。 根據(jù)系統(tǒng)要求設(shè)計和制作了原理樣機的機械結(jié)構(gòu)和軟硬件,搭建了地面模擬實驗系統(tǒng)；設(shè)計了地面模擬裝置模擬波浪擾動,在實驗室內(nèi)開展了地面動態(tài)模擬實驗。測試了系統(tǒng)的魯棒性和控制精度,驗證了本文所建模型和控制策略的正確性及有效性。
[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.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2014
【分類號】：U674.70

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