小型水下海洋运载器电力推进节能控制策略研究

项目名称： 小型水下海洋运载器电力推进节能控制策略研究

项目编号： No.51279039

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 水利工程

项目作者： 姚绪梁

作者单位： 哈尔滨工程大学

项目金额： 66万元

中文摘要： 小型水下海洋运载器能源有限，限制了它的活动半径和续航时间。为了减少电力推进装置能量的消耗，以扩大运载器的活动半径和续航时间，必须研究节能电力推进系统。本课题研究在海浪作用下电力推进装置在节能约束下控制策略的理论基础和关键技术。 研究在随机海浪作用下运载器的运动、航行附加阻力，研究运载器运动对推力器负载的影响，航行机动、作业时运载器运动姿态调整时对运载器的推力器性能的影响；研究的电力推进系统控制规律不仅考虑了运载器的姿态控制性能，还考虑了电力推进系统的能量消耗，达到在能量消耗最小意义下的姿态控制性能最优；研究在海洋扰动下的电力推进系统的附加负载模型及对附加负载的补偿理论，在海浪扰动下电力推进系统的节能控制策略。 研究结果可为运载器电力推进系统提供一种节能的控制理论，为工程设计奠定理论基础，也为其它的船舶电力推进及推力器控制系统的设计提供了一种新的理论。

中文关键词： 水下海洋运载器；电力推进；附加负载；节能控制；

英文摘要： The energy of small underwater marine carrier is limited, restricts its activities radius and endurance. In order to reduce the energy consumption of electric propulsion devices, expand the activities radius of carrier and endurance, the study of energy-saving electric propulsion system is necessary. In the report,we studied theoretical basis and key technology of control strategy of the electric propulsion system under the action of waves and the constraints of energy-saving. Study the carrier movement under the action of random waves、sailing additional resistance ,study the influence of thruster load on carrier movement,the influence of the carrier attitude adjustment at sailing maneuver、operating on the thruster performance of carrier. The studies of electric propulsion system control regular consist of not only the posture control performance of carrier but also the energy expenditure of the electric propulsion system, and reach the optimal control of the posture control under the meaning of energy expenditure; the studies regard to additional load models and the additional load compensate theories which belongs to electric propulsion system under marine disturbance and the energy-saving control strategy of electric propulsion system under the see wave disturbance. The studies can provide a kinds of energy-

英文关键词： Small Underwater Marine Vehicles；Electric Propulsion；Additional Load；Energy-saving Control；