水翼双体船升沉/纵摇鲁棒控制与视景仿真研究  

Hydrofoil catamaran's heave/pitching robust control and visual simulation

作　　者：刘胜[1] 罗旋 王宇超[1] LIU Sheng LUO Xuan WANG Yuchao(College of Automation,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《应用科技》2017年第4期16-21,共6页Applied Science and Technology

基　　金：国家自然科学基金项目(51279036)

摘　　要：针对高航速下水翼双体船升沉、纵摇运动问题,提出水翼上附加可控式襟翼结构,建立了水翼双体船运动控制系统数学模型,采用鲁棒H_2/H_∞控制的方法来控制前后襟翼角转动,使其提供相应的扶正力和力矩,减小船体升沉、纵摇运动;同时结合MultiGen Creator、Vega和VC++6.0软件开发平台,设计实现了水翼双体船升沉/纵摇运动控制视景仿真系统,给出了在VC++中构建的运动控制数学模型算法模块,以及串口通信技术来实现实时的物理通信。仿真结果表明,所提控制方法可有效减小水翼双体船的升沉、纵摇运动,提高了水翼双体船的适航性,同时搭建的视景仿真系统更形象直观地展现了运动控制过程,具有交互性高、实时性好的优点。The method that installing controllable wing flaps on the hydrofoil was proposed to improve the catamaran hydrofoil’s heave/pitching motion stability in the high speed. The mathematical model of motion control system was built,and the robust H2/H∞ method was taken to control the wing flaps’ rotation to provide corresponding force and moment to reduce the heave/pitching movement. The software visual C＋＋,in company with MultiGen Creator and Vega,played as the platform was used to design the hydrofoil catamaran heav^^pitching motion control visual simu-lation system. The algorithm module of motion control mathematical model was introduced in the VC＋＋ 6.0. The se-rial port communication was adopted to make the realtime physical communication come true. The simulation result has shown that the proposed method could reduce the hydrofoil catamaran ’ s heave/pitching motion ranges and im-prove the navigability effectively. At the same time, the visual simulation system demonstrates the motion control process more vividly and intuitively,which is good at interaction and real-time characteristic.

关 键 词：水翼双体船 鲁棒控制 升沉纵摇 可控式襟翼 视景仿真 串口技术 VC++6.0 实时性 

分 类 号：U664.7[交通运输工程—船舶及航道工程] TP391.9[交通运输工程—船舶与海洋工程]