混合多浮体稳定系统数学建模与姿态稳定机理研究

项目名称： 混合多浮体稳定系统数学建模与姿态稳定机理研究

项目编号： No.51475243

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 李豪杰

作者单位： 南京理工大学

项目金额： 77万元

中文摘要： 混合多浮体稳定系统是浮于海面的一种刚、柔多体组合的平台，抑制海浪波动和水动力耦合导致的系统姿态扰动是目前研究难点。针对混合多浮体稳定系统中平台本体的姿态稳定需求，提出刚、柔多体耦合系统波动抑制与系统内驱力相结合的姿态稳定方法。首先研究混合多浮体稳定系统动力学特性，建立其数学模型。通过分析系统内各浮式单元参数对水动力相互作用的影响，探索结构参数到系统姿态的传递特性，得出系统扰动机理与抗扰动优化方法。结合非完整力学系统理论与非完整系统控制理论，研究系统受控对象内驱动原理与波动抑制方法，最后借助试验开展多源内、外力耦合时系统主要可动部件的位姿测试，进行性能验证与模型修正，获得混合多浮体稳定系统设计方法与平台本体内驱姿态稳定机理。所得结论在混合多浮体稳定系统被动多源扰动与主动内驱力结合实现姿态稳定方面有创新，为混合多浮体稳定系统的姿态稳定提供新方法，研究成果可为海上小型浮动平台的设计提供理论支撑。

中文关键词： 非线性动力学；系统动力学；多浮体；多体动力学；动力学模型

英文摘要： Hybrid multi-body floating stabilized system(HMFSS) works on ocean surface and is consisted of several rigid body and flexible body. One of the present reseach difficulties is suppression of system attitude disturbance caused by wave fluctuations and hydrodynamic coupling. Aimed at attitude stabilization demand of HMFSS's platform, the attitude stabilization method combined with the fluctuation suppression of rigid, flexible multi-body coupling system and the system drive is proposed. First, the dynamics of HMFSS will be studied, and the mathematical model will be established.Through analysis of the effect of spacing for floating unit and its distribution on the hydrodynamic interactions within the system, the relationship between structure parameters and the performance of the system is explored, and the disturbance mechanism and rejection optimization method will be obtained. Based on non-holonomic system and control theory, the principle of system controlled object and the method of fluctuation suppression is researched. Finally, the experiment of attitude measurement of system main component within multi-source coupling wiil be done for the system performance verification and model updating. HMFSS design method and the principle of platform attitude stabilization is obtained. The disturbance method of passive hybrid multi-source combined with active drive to achieve attitude stabilization is innovative, and the results also provide new method for attitude stabilization of HMFSS. The research results can provide theoretical support for the design of small floating offshore platform.

英文关键词： nonlinear dynamics;system dynamics;floating multi-body;multi-body dynamics;dynamic model