【作者】 刘强；

【导师】 李国斌；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2008， 博士

【摘要】 SWATH船是一种具有优良耐波性的新型高性能船舶。与常规的单体船相比，它具有自然运动周期长，运动幅度小，波浪中失速少，砰击、上浪及乘员的晕船概率低等优点。由于其水线面积较小，船的纵倾恢复力矩相应减少，随着速度的增加，作用在下潜体上的MUNK力矩会以速度平方的速度迅速增加，容易发生纵向失稳。目前，解决这一问题的主要方式是在下潜体内侧安装稳定鳍。因此，稳定鳍尺寸和安装位置的确定就成为SWATH船建造过程中的一个重要环节。稳定鳍不但是平衡水动力纵倾力矩保证SWATH船纵向运动稳定的一个重要工具，而且它对SWATH船的机动性、波浪中的运动性能以及阻力特性等方面都有较大的影响。为了获得一组较好的稳定鳍方案，就必须在稳定鳍方案的设计过程中充分考虑上述各因素的影响。为此本文在详细分析了波浪中SWATH船的纵向运动性能和稳定鳍尺寸、安装位置等参数对SWATH船纵向运动稳定性和机动性影响的基础上建立了SWATH船稳定鳍方案的多目标优化数学模型，并利用多目标遗传算法对其进行了优化求解。然后，进一步建立了稳定鳍方案的多指标评价体系，并利用多级模糊综合评价法对其进行了评价，以从优化得到的Pareto最优解中确定出最满意的稳定鳍方案。虽然安装设计合理稳定鳍的SWATH船本身在波浪中具有较好的运动性能，但是对稳定鳍采取一定的控制措施以进一步改善SWATH船的运动性能也是必要的。考虑到实际SWATH船纵向运动控制系统所具有的不确定性，本文采用鲁棒控制理论对其进行了控制研究。并结合线性矩阵不等式理论和概率鲁棒性能分析思想，提出了一种针对参数不确定系统的新控制器设计方法。此方法不但能充分考虑系统的鲁棒性能要求而且能将闭环系统的极点配置到指定区域以改善系统的动态性能，而且此方法还具有设计过程简单、保守性小以及受不确定参数进入系统的方式影响较小等优点。最后，本文针对SWATH船的参数不确定模型和混合不确定模型，采用概率鲁棒控制方法和μ综合控制方法分别对其进行控制研究，并取得了较好的控制效果。更多还原

【Abstract】 SWATH is a kind of new high performance ship with the excel seaworthiness.Compared with the general single hull,it’s natural period is longer,motionamplitude is smaller,speed lose in waves is little,probability of slams,deckwetness and nausea is lower.Because of the small waterplane area the restoringmoment of the longitudinal motion of SWATH is also small.However,the MUNKmoment added on the lower hulls is increased quickly with the square of the speedand the longitudinal motion of SWATH will be unstable when the speed exceedsthe critical value.Now the main way that solves this problem is to install thestabilizing fin inside the lower hulls.Therefore,the design of the stabilizing finbecomes the important part of the SWATH building.The stabilizing fin not only is the important tool that balances the MUNKmoment for ensuring the stability of the longitudinal motion of SWATH,but alsocan bring the biggish influence to the longitudinal motion maneuverability,thelongitudinal motion performance in waves and resistance performance.So it isnecessary for getting excel stabilizing fin to involve all of the influence factorswhich are mentioned before.Therefore,this paper establishes the multi-objectiveoptimization mathematical model of the stabilizing fin scheme of SWATH afteranalyzing the longitudinal motion performance of SWATH in waves and theinfluence of the longitudinal motion stability and maneuverability from theparameters change of the stabilizing fin and solves this problem by themulti-objective genetic algorithm.Then,this paper establishes the evaluatingindex system of the stabilizing fin scheme and uses the fuzzy multilevelcomprehensive evaluation method to get the satisfying stabilizing fin scheme fromPareto set.Though the SWATH that is installed the stabilizing fin designed in reason can work with the excel motion performance in waves,it is necessary to control thestabilizing fin for improving the motion performance further.In view of theuncertainty of the actual longitudinal motion control system of SWATH,this paperuses the robust control theory to control the stabilizing fin for improving thelongitudinal motion performance of SWATH.And this paper presents a newcontroller design method based on the linear matrix inequality theory and theprobabilistic robustness analysis method for the parameter uncertainty system.This method can not only satisfy the robust performance requirement of thesystem but also assign the pole of the closed system to the given region.And thesynthesis process of this method is simple,the conservation is little and it is notlimited by the way that the parameters enter into the system.Finally,this paperuses the new control method andμ-synthesis method respectively to control thelongitudinal motion system of SWATH with the parameter uncertainty and themixed uncertainty,the effect is excel.更多还原