气垫船垫升姿态运动特性及非线性解耦控制方法研究

项目名称： 气垫船垫升姿态运动特性及非线性解耦控制方法研究

项目编号： No.51309062

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 水利工程

项目作者： 王成龙

作者单位： 哈尔滨工程大学

项目金额： 25万元

中文摘要： 全垫升气垫船复杂的操控特性和严重的"漂石效应"已经成为制约其发展的关键因素。本项目以某全垫升气垫船为研究对象，以改善稳定性、适航性和航行安全性为目标，研究气垫船的垫升姿态控制方法。采用理论分析和数值计算的方法建立垫升系统数学模型和气垫船空间六自由度运动数学模型；采用仿真计算和非线性系统分析的方法研究气垫船的垫升姿态运动响应特性，揭示气垫船在风浪中航行时的垫升姿态变化规律，分析垂向运动稳定性，为垫升姿态控制方法的研究提供依据。影响气垫船垫升姿态的关键因素是气垫压力，所以对垫升风机转速进行控制从而改变气垫的进气量，进而达到气垫压力的自动调节实现垫升姿态的控制。控制策略采用基于自抗扰理论的解耦控制方法，并考虑对参数在线整定，以实现对气垫压力的精确控制，达到良好的垫升姿态控制效果。通过本项目的研究，将提高对气垫船垫升姿态运动特性的研究水平，为改善气垫船的适航性问题奠定理论基础。

中文关键词： 全垫升气垫船；垫升系统；垫升姿态；自抗扰控制；解耦控制

英文摘要： Complexity of maneuver and seriousness of "cobblestone effect" have become critical factors that hinder the development of air cushion vehicle. Take a certain air cushion vehicle as the object of study, heave and attitude control method is studied to improve the ship's stability, navigability and shipping security. Theory analysis and numerical computation methods are adopted to construct mathematic model of the air cushion system and mathematic model of the ship's six degree of freedom motion. Simulate computation method is adopted to research the characteristic of the ship's heave and attitude at rough sea, and the intention is reveal the law of heave and attitude change. Nonlinear system analysis method is used to analyze the vertical motion stability, and provide scientific basis for control method research. The key factor that affects the heave and attitude motion of air cushion vehicle is cushion pressure. The rotational speed of air intake fan is controlled to change the air flow into cushion, and then the cushion pressure is regulated automatically. So, the heave and attitude control is accomplished. The decoupled control strategy based on active disturbance rejection control theory is adopted. Online adjusting of control paremeter is considered at same time to achieve precise control on cushion pressure

英文关键词： Air cushion vehicle；Cushion system；Heave and attitude；Active disturbance rejection control；Decoupling control