小水线面双体船 自动化本科毕业论文

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1、摘要小水线面双体船(简称SWATH)是人们在开发海洋资源与捍卫海上安全的实践中，不断综合各种船型技术优势的基础上持续创新的产物，是用途广泛的高性能船。SWATH具有耐波性能优良、快速性能优良、操纵性能良好、稳定性好等优点。由于SWATH纵向和横向运动稳定与否的主要是由作用在船体上的Munk力矩所决定的，因而稳定鳍的作用至关重要。本文是在分析了小水线面双体船耐波性与稳定性等水动力特性的基础上通过seakeeper纵向运动切片法推出了SWATH纵向运动控制系统状态空间数学模型，并引入了PID控制理论来探讨小水线面双体船

2、减摇鳍的运动控制方法。用不同频率的规则波作为SWATH的扰动信号，以进行船在不同频率规则波作用下的纵摇、垂荡运动响应仿真；用相同频率的规则波作为SWATH的扰动信号，以进行船在不同航速规则波作用下的纵摇垂荡运动响应仿真；以及进行船在模拟随机海浪下的纵摇、垂荡运动响应仿真。通过实验了解小水线面双体船垂荡和纵摇的频率特性，并设计小水线面双体船减摇鳍的PID控制器，并对其效果进行了仿真分析。通过分析，该控制器可使减摇鳍为SWATH的纵向运动提供相对良好的耐波形。关键词：SWATH；纵向运动；maxsurf；seakeep

3、er；规则波；随机海浪；PID；ABSTRACTSWATHcatamaran(ReferredtoasSWATH)isthatpeopleinthedevelopmentofmarineresourcesandtodefendthepracticeofsafetyatsea,constantlysynthesizingshiponthebasisoftechnicalsuperiorityoftheproductofcontinuousinnovationistheuseofawiderangeofhigh-per

4、formanceboat.SWATHwithseakeepingperformance,fastperformance,excellentmaneuverability,stabilityandgood.TheSWATHstabilityofverticalandhorizontalmovementismainlywhetherornottheroleofthehulloftheMunkmomentofthedecision,thusstabilizingfinsiscrucial.Thisarticleisthe

5、analysisofSWATHcatamaranseakeepingandstabilitybasedonthehydrodynamiccharacteristicsofverticalmovementthroughseakeeperSWATHverticalsectionmethodintroducedmotioncontrolsystemstatespacemodel,andintroducesthetheoryofPIDcontrolSWATHcatamaranfinmotioncontrolmethod.R

6、egularwaveswithdifferentfrequenciesasaSWATHdisturbancesignaltotheshipinregularwavesofdifferentfrequenciesunderthepitch,heavemotionresponsesimulation;regularwaveswiththesamefrequencyastheSWATHdisturbancesignaltotheshipindifferentspeedregularwavesheaveunderthepi

7、tchingmotionresponsesimulation;andtheshipunderrandomwavesinasimulatedpitch,heavemotionresponsesimulation.ExperimentstounderstandSWATHcatamaranheaveandpitchofthefrequencycharacteristics,anddesignSWATHhullshipthePIDcontroller,fin,andtheeffectofthesimulationanaly

8、sis.Throughanalysis,thecontrollerallowsfortheSWATHfinprovidesverticalmovementrelativelygoodresistancewaveform.Keywords：SWATH；Longitudinalmotion；maxsurf；seakeeper；Regularwaves；Rando