【作者】 胡妍妍；

【导师】 林孝工；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2011， 硕士

【摘要】 全垫升气垫船是一种高性能船舶,其结构与其它船只有很大的不同,它由下面的气垫压力承担船体重量,通过气垫层使船体与水面或地面隔离。采用空气螺旋桨推进,具有水陆两栖性。由于全垫升气垫船本身的特点,使得气垫船在操纵控制方面与其它运载工具有很大的不同,由于没有水下器件,因此不能像普通船舶一样通过水下器件产生回转向心力,也不能像飞机通过副翼产生侧向的动升力来实现回转。气垫船通过空气舵产生回转力,但由于船浮在水面上,船的水阻力很小,偏航阻力也很小,因而在操舵时很容易产生侧漂,船艏向角也很容易改变,但航迹却没有实现真正的回转。在侧风作用下,气垫船的一弦容易侧漏,产生侧漂,横倾等,在气垫船的航速较低时,气垫船很难控制。此时可以启动气垫船特有的操纵装置来对气垫船进行操纵控制。本论文研究了气垫船的特有操纵装置(执行机构)在气垫船航向控制中的应用。气垫船的特有操纵装置包括旋转喷管、螺旋桨、侧风门。利用这些执行机构对气垫船进行航向控制和回转控制。本论文以某型气垫船为对象,首先对全垫升气垫船各个部分建模,分别建立了气动力模型、水动力模型、螺旋桨推力模型、空气舵力模型、侧风门力模型和旋转喷管推力模型,最后在固定坐标系下运用刚体的动力学定理得到了气垫船的运动方程,将其转换到适合于表达水动力的运动坐标系中,完成了气垫船四自由度运动数学模型的建立。然后进行船模仿真试验,用以检验所建立模型的正确性。其次,研究了遗传算法的基本理论和基于遗传算法优化PID控制器参数的理论与方法,并针对本文的控制目的设计了基于遗传算法整定的PID控制器。最后为旋转喷管和螺旋桨分别设计PID控制器和基于遗传算法优化的PID控制器,用来控制气垫船的航向。分别进行了无风仿真试验和有风仿真试验,用以验证操纵装置的有效性和遗传算法的优越性。更多还原

【Abstract】 Air Cushion Vehicle is a high performance ship, its structure is different from other vessels, its weight is borne by the air-cushion below the vessel, and the vessel is isolated from the surface or the ground by the air-cushion. It adopts air propeller and has amphibious nature. Air Cushion Vehicle has different manipulation control characteristics from other vehicles because of its own characteristic. As it has no underwater devices, it can not generate rotary force by the underwater device as other vessels, and it also can not rotate by the lift produced by the aileron as the aircraft.Hovercraft produces the rotary force by the air rudder, as the ship is floating on the water, the water resistance and the yaw resistance is very small, then the ship can easily drift when steering, the heading is also very easy to be changed, while the track has not really circumgyrated. In the crosswind, the hovercraft can easily be missed, drifted, heel etc, coupled with the high speed of the hovercraft, the hovercraft is difficult to control. In this time we can start the specific control devices of the hovercraft to manipulate it. In this paper, we studied the special control device (executive institution) of the hovercraft in the hovercraft heading control. The special control devices of the hovercraft including rotating nozzle, propeller, lateral throttle and so on. We can control the heading and gyration by these executive institutions.We take the hovercraft as the research object in this paper. Firstly, we establish the models for each parts of the hovercraft, such as aerodynamic model, hydrodynamic model, propeller thrust model, air rudder model, lateral throttle model and the rotating nozzle model. Then we get the motion equation of the hovercraft using the dynamic theorem of rigid body under the fixed coordinate system, after that, we convert it to the moving coordinate system and we finished the four DOF mathematical model of the hovercraft. In order to test the validity of the model, we imitated the real test for the hovercraft. Secondly, we introduced the basic theory of genetic algorithm and the theory to optimize the parameters of PID controller based on genetic algorithm, and designed adaptive online genetic algorithm tuning PID controller according to the purpose of the paper. Finally, we designed PID control and PID controller based on genetic algorithm for each executive institution to control the heading of the hovercraft. And we do the simulation with wind and without wind in order to test the effectiveness of the control devices and the superiority of the algorithm.更多还原