【摘要】：高速三體船作為高性能船舶的代表,由于優(yōu)異的性能成為研究的熱點(diǎn)。高速三體船的主體和側(cè)體均為細(xì)長體結(jié)構(gòu),具有優(yōu)異的快速性和穩(wěn)定性。然而高速航行下的三體船劇烈的縱向運(yùn)動(dòng)成為制約三體船得到廣泛應(yīng)用的問題。因此,研究高速三體船的減縱搖具有重要意義。本文采用T型翼作為機(jī)械減搖裝置,采用合理的控制方法設(shè)計(jì)了控制器對(duì)多種工況下T型翼對(duì)三體船的減搖效果進(jìn)行了仿真分析。本文首先利用ANSYS AQWA對(duì)三體船進(jìn)行水動(dòng)力特性分析,得到三體船的各項(xiàng)水動(dòng)力系數(shù);根據(jù)隨機(jī)海浪理論建立了引起三體船縱向運(yùn)動(dòng)的隨機(jī)海浪數(shù)學(xué)模型;考慮實(shí)船和船模的尺度效應(yīng),利用FLUENT軟件對(duì)T型翼進(jìn)行了流體力學(xué)分析得到T型翼的升力模型,進(jìn)而建立帶T型翼的高速三體船的縱向運(yùn)動(dòng)數(shù)學(xué)模型。由于要研究T型翼在不同攻角時(shí)能夠提供的升力大小,本文采用參數(shù)化管理的方法,只需要在FLUENT中進(jìn)行一次網(wǎng)格劃分和相關(guān)求解參數(shù)設(shè)定就可以得到各攻角下的升力和升力系數(shù),極大提高了仿真效率。然后,對(duì)三體船進(jìn)行開環(huán)運(yùn)動(dòng)分析,研究了影響三體船縱向運(yùn)動(dòng)的因素。通過在規(guī)則波下分析不同遭遇頻率和不同航速下三體船的縱向運(yùn)動(dòng)響應(yīng),得出遭遇頻率和航速是影響三體船縱向運(yùn)動(dòng)的重要因素。通過分析不規(guī)則波下帶T型翼的三體船的縱向運(yùn)動(dòng)響應(yīng),更真實(shí)的展現(xiàn)了 T型翼對(duì)三體船的減搖效果。最后,設(shè)計(jì)了三體船的姿態(tài)控制器,對(duì)T型翼的減縱搖進(jìn)行了仿真。為了更好的實(shí)現(xiàn)減搖,采用了最優(yōu)二次型控制和滑模變結(jié)構(gòu)控制兩種方法設(shè)計(jì)了 T型翼的姿態(tài)控制器。LQR控制考慮了三體船縱搖和垂蕩耦合關(guān)系,且采用LQR控制方法設(shè)計(jì)的控制系統(tǒng)易于實(shí)現(xiàn)狀態(tài)反饋。滑模變結(jié)構(gòu)控制則適合于解決不確定非線性系統(tǒng),且具有很強(qiáng)的魯棒性。利用MATLAB/SIMULINK建立了帶T型翼的三體船的縱向運(yùn)動(dòng)控制仿真模型,并進(jìn)行了仿真。仿真結(jié)果證明在兩種姿態(tài)控制器的作用下,T型翼能夠有效的減小三體船的縱向運(yùn)動(dòng)。
[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.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U664.82;TP391.9

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