全浸式水翼艇运动姿态智能控制关键技术研究

As the project background , the problem of attitude stability hydrofoil vector flapping control for a fully-submerged hydrofoil craft is considered in this project . When fully-submerged hydrofoil crafts sailing with high speed in head sea, the lack of self- stability tends to be more and more obvious,which makes the hydrofoil craft easier to be affected by external interference such as wind, waves and currents, thus leading to serious positive motion. The generation mechanism of this problem is analyzed in-depth first. Then hydrofoil intelligent flapping control strategy is proposed to improve the property of seakeeping for the fully-submerged hydrofoil craft. Under the constraint of energy consumption index, any rotation angle ratio of hydrofoil flapping control for fully-submerged hydrofoil craft is achieved by establishing the hydrodynamic model of hydrofoil by introducing intelligent control strategy and extended CKF based nonlinear state estimating strategy. The controller designed in the project with a stable output in the entire speed range of the fully-submerged hydrofoil craft can be ensured. The conservative of system controller is decreased and the dynamic performance is improved as well as the energy consumption.According to these research above, new methods for a class of nonlinear systems analysis and synthesis will be obtained to decrease the conservative of system design, and a series of nonlinear control strategies will be carried out for pitch/Heave-rotation/heeling collaborative control, which are based on the high order sliding mode control and nonlinear disturbance rejection methods. As to the engineering application, this Project aims to solve the practical application problem of fully-submerged hydrofoil craft attitude stability control in a better way and develops the modernization equipment process of China's high-performance marines.

课题主要研究全浸式水翼艇翼航姿态稳定控制的新概念与相关的关键技术。首先提出全浸式水翼艇翼航姿态智能控制系统体系结构及实现机理，在此基础上进行全浸式水翼艇动力学建模研究；设计研究基于扩展容积卡尔曼滤波的滑模变结构随机状态估计器；全浸式水翼艇纵摇/升沉翼航姿态动力学是一类带有外界随机干扰的非匹配不确定非线性系统，提出基于多输入多输出非线性干扰观测器的多重干扰解耦控制策略；全浸式水翼艇回转/横倾翼航姿态动力学特性不仅决定其横向平面的操纵性与适航性，而且会对水翼艇航迹运动学回路造成影响，设计研究基于自适应视线法的二阶滑模干扰抑制控制，采用级联系统理论，解决全浸式水翼艇路径跟随状态下横向平面运动学回路与动力学回路的鲁棒稳定性，使全浸式水翼艇翼航姿态控制系统满足全工作域的姿态稳定控制性能。通过以上研究，解决全浸式水翼艇翼航稳定控制的相关理论和关键技术问题，为我国高性能全浸式水翼艇的工程化奠定基础。

全浸式水翼艇以其阻力小，耐波性，适航性优良受到世界各国的青睐，并得到相关的研究和发展。但由于全浸式水翼艇在翼航时，艇体被水翼产生的升力拖出水面，仅有水翼位于水面以下，因此缺乏自稳性，需要安装自动操纵仪，设计控制策略保证全浸式水翼艇翼航时的姿态稳定性和航迹跟踪的准确性。针对全浸式水翼艇在翼航过程中纵向、横向运动剧烈及航迹跟踪准确性问题，本课题建立了全浸式水翼艇的纵向、横向动力学模型，设计了基于滑模变结构的容积卡尔曼滤波器用于水翼艇纵向运动姿态的估计，提高滤波精度和鲁棒性。针对外界海浪干扰，设计采用基于多输入多输出非线性干扰观测器的改进互补滑模控制策略，从而保证了全浸式水翼艇纵向运动姿态的稳定性，减少全浸式水翼艇的纵向运动及控制面的抖阵现象。针对全浸式水翼艇回转/横倾动力学特性，采用级联系统理论，设计了基于自适应视线法的二阶滑模干扰抑制控制策略，解决了全浸式水翼艇路径跟踪状态下横向平面运动学与动力学回路的鲁棒稳定性问题，并设计在航向引导算法中加入对侧滑角的估计与补偿，从而提高了路径跟踪的精度。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与航向控制领域中去。