基于刚度与阻尼在线调控的波浪中高速无人艇声隐身控制

Acoustic-stealth is critical for battlefield performance of an Unmanned Surface Vehicle (USV). Controlling vibration and acoustic noise generated by on-board machinery is one of the approaches to achieve acoustic-stealth. The difficulty on gaining high payload-capacity with vibration isolator of low stiffness, and on controlling the broad-band random vibration and low-frequency line-spectrum vibration simultaneously results failure in eliminating radiated tonal noise of the high-speed USVs. In this study, we investigate dynamic behavior of USV’s vibration under multiple vibration sources and its influences on noise radiation to the water. By taking the parameter disturbances and model uncertainty into account, we propose a novel vibration isolator based on an electromagnetic mechanism of adjustable stiffness and damping, and establish an adaptive vibration control strategy capable of online tuning on stiffness and damping of the vibration isolator. Prototype will be fabricated and experimentally verified on our “Jinghai” series USVs. Results gained in this project will enrich the knowledge on vibration controlling towards acoustic-stealthy high-speed USVs.

声隐身控制技术是提升无人艇战场生存能力和作战效能的关键，对无人艇柴油主辅机组的机械振动进行隔离和抑制是声隐身控制的有效途径之一，现有隔振系统在低刚度与高承载能力之间、在抑制窄带分布强线谱振动与隔离宽频随机振动之间存在固有矛盾，无法有效控制高速无人艇的低频强线谱振动，波浪中的高速无人艇完全不具备声隐身能力。本项目针对波浪载荷与柴油主辅机组复合激励下的艇身耦合振动机理及其对无人艇水声辐射影响规律，通过研究复杂海况下高速无人艇振源特性和振动模型，提出具有可变刚度和可变阻尼的新型艇用非线性隔振器设计，针对未知时变强线谱振动控制难题提出基于刚度和阻尼在线调节的线谱振动自适应控制方法，搭建高速无人艇用振动控制系统样机，在上海大学“精海”系列无人艇平台上开展配机试验，实现降低高速无人艇振动的水声辐射能量、模糊其强线谱特征的声隐身控制目的，为我国无人艇装备技术向高速化方向发展和型号列装提供支撑。

本项目针对高速无人艇的声隐身需求，以降低高速无人艇振动水声辐射能量、模糊强线谱特征为目标，通过研究高速无人艇在主辅机组和波浪载荷共同作用下的艇体耦合振动机理，研究隔振系统动力学行为优化机理，设计针对未知、时变、强线谱振动的自适应主动控制方法，综合考虑无人艇对隔振系统在体积和重量方面的限制，研制了具有可变刚度和可变阻尼的电磁作动器装置，构建了高速无人艇用振动控制系统样机，利用仿真分析和无人艇配机试验对其原理和性能进行了验证，实现了降低高速无人艇振动的能量传递、模糊其强线谱特征的声隐身控制目的，达到了预期的研究目标。