【作者】 宋佳；

【导师】 刘胜；

【作者基本信息】 哈尔滨工程大学 ， 模式识别与智能系统， 2008， 硕士

【摘要】 潜器全方位推进器作为一种新型推进装置,目前尚处于研究开发阶段,它打破了常规推进操纵装置通常由若干个推进器组成的模式,有效解决了常规推进装置存在的潜器结构连续性差、强度低、尺度(如耐压壳厚度)要求高,推进器性能比重大,潜器内部的布置受局限,功耗大等问题,因而具有广阔的工程实用前景。本文主要针对潜器全方位推进器调距控制装置进行了一系列的建模仿真研究工作。首先,对潜器全方位推进器调距控制装置进行了运动学建模分析,包括位置正解建模分析和位置反解建模分析。并在所推导的数值解法的基础上,运用遗传神经网络算法对潜器全方位推进器调距控制装置的位置正解的求解工作进行优化仿真研究。其次,对潜器全方位推进器调距控制装置进行基于Lagrange方程方法及基于Kane方程方法的动力学数学模型的详细推导工作,并通过利用遗传算法优化雅可比矩阵求解的方法,进行调距控制装置的奇异位形分析判断。然后,针对所建立的潜器全方位推进器调距控制装置电液伺服系统数学模型,设计了基于遗传算法的自寻优PID控制器,利用MATLAB对其进行了仿真研究。结果表明GA-PID控制器具有很好的控制精度和鲁棒性。最后,将虚拟样机技术应用于潜器全方位推进器调距控制装置分析实验中。运用ADAMS软件对调距控制装置的运动学和动力学进行分析和论证,并通过仿真得到各构件的运动特性。交互式地进行结构参数的调整和改进,为控制潜器全方位推进器的位姿提供了数据参考,为实体样机的研制提供了可靠保证。更多还原

【Abstract】 The Variable Vector Propeller (VVP) , as new kind impellent equipment, is still at the stage of R&D. It has broken the conventional pattern of propeller operating controllers that has some propellers. Effectively solve the problems of conventional propellers that has bad structure continuity, low intensity, the high criterion requests (for example pressure resistance shell thickness), limit internal arrangement, big power loss etc. The WP has the broad project practical prospect. This article mainly in view of pitch control machine on the WP.Firstly, the positive kinematics and the inverse kinematics model of pitch control machine on the WP are detruded. And in infers in numerical solution foundation, optimized simulation is carried on to the positive kinematics of the pitch control machine on the WP by using genetic algorithm neural network.Secondly, dynamics mathematical model is built up by using the Lagrange equation method and Kane equation method. Singularity analysis judgment is finished by the method of using Genetic Algorithm(GA) optimize solves minimum value of Jacobin matrix.Afterward, mathematical model of electro-hydraulic servo is built up. GA is designed to improve the compatibility of PID controller. Simulation research has conducted by using MATLAB. The result indicated that the GA-PID controller has higher course control precision, better robust performance.Finally, the Virtual Prototype Technology(VPT) is used in the analysis and the experiments of pitch control machine on the WP. Analysis and proof of the dynamics and the kinematics of the machine is done by using ADAMS. Obtains various components’ state of motion through the simulation. Interactive carries on the design parameter the adjustment and the improvement. Provide the data reference to the WP’s posture adjustment. Has provided the reliable guarantee for the entity prototype’s development.更多还原