无人潜器总体方案设计的多学科优化方法研究
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摘要
无人智能潜器是典型的多学科耦合的复杂工程系统。设计一艘无人智能潜器涉及到艇型、耐压结构、载体结构、能源选择、推进系统、操纵与控制方式等众多方面。传统的潜器设计，按照方案设计、初步设计等分阶段分学科顺序进行，设计过程中存在大量反复性的修改，并且由于缺乏学科间的均衡考虑可能失去系统的整体最优解，降低了潜器总体设计效率与性能。
多学科设计优化能够充分利用不同学科之间的相互作用所产生的协同效应，是进行复杂系统优化设计的有效方法。从如何在潜器总体设计过程中考虑各学科间的权衡折衷和数据交流作为出发点，以潜深2000m航程100km的深海无人智能潜器的总体设计优化问题为研究目标，针对当前主流的金属材料框架式结构潜器，及较为新颖的有着良好应用前景的复合材料一体式结构潜器，本文进行了多学科设计优化方法的理论与应用研究。本文作出的主要工作有：
（1）考虑潜器总体设计包含的艇型、载体结构、耐压结构、能源选择、推进系统、总布置设计六大方面，介绍了阻力性能、结构性能、操纵性能、推进性能等主要学科的分析建模方法。分析了潜器设计中的学科耦合特点，并按照多学科优化的思想进行了系统分解，明确了系统与子系统、子系统之间的关系。
（2）研究了多学科设计优化的关键技术—近似模型技术。研究了试验设计方法及全局近似技术，根据系列耐压圆柱壳、球壳结构有限元分析结果，建立了强度和屈曲压力的结构性能近似模型；根据系列水滴型回转体数值计算结果，建立了潜器阻力性能近似计算模型，并通过模型试验进行了精度检验。
（3）研究了两种典型的多学科优化过程—同时分析与设计方法及协同优化方法，通过数学算例得出了各自的计算特点与适用范围。针对多个学科的多目标优化问题，本文研究了基于Pareto解的多目标遗传算法NSGA-Ⅱ，并将其与多学科设计优化过程相结合。应用多学科优化方法完成了潜器设计的两个典型实例：艇型能源的一体化设计、操纵性与快速性的综合优化设计。
（4）针对目标潜器设计了立体框架式结构方案，建立了能源系统设计、艇型设计、操纵面设计、耐压结构设计和框架结构设计，这五个子系统的分析优化数学模型，提出子系统的输入输出变量，并确立了系统级设计变量、优化目标及约束条件。根据同时分析与设计方法的思想，集成了耐压舱的结构分析、框架结构分析、艇型阻力性能分析的近似模型及操纵性能分析程序，完成了综合5个子系统的框架式潜器的总体多学科优化设计，得到满足任务书要求的最优设计结果。
（5）针对目标潜器设计了碳纤维复合材料一体式结构方案，研究了复合材料结构艇体的强度分析方法，建立了基于参数化的强度分析命令流。集成了能源系统设计、艇型设计、操纵面设计和艇体结构设计的分析计算模型，完成了复合材料一体式潜器的总体多学科优化设计，获得了满足任务书要求的最优设计结果。计算发现，较之金属材料框架式结构潜器，复合材料结构潜器的优势十分明显，而最终目标潜器也将采用碳纤维复合材料一体式的结构形式。
结果表明，本文建立的潜器总体设计的多学科优化过程，涵盖了总体设计的主要内容，最优设计方案中能够同时给出能源需求、耐压结构参数、框架结构参数、艇型主尺度、舵面积等重要参数。优化过程不需要人为反复修改设计，仅通过控制和修改设计变量，在较短的时间内即可得到预期的优化结果，并且该方法具有一定的通用性和实用性。
Autonomous underwater vehicle (AUV) is a typical complex engineering systeminvolving many coupling disciplines. Designing an AUV should deal with hull form, pressureshell, frame structure, energy selection, propulsion, manoeuvre and control mode and so on.The conventional design method for AUV is carried through orderly following the principleof different phases and different disciplines, which results in the reiteration in the designcourse. Besides, the optimal result of AUV system is often lost because of an absence ofbalanced consideration among disciplines. Consequently, the design efficiency and systemperformance are decreased using conventional design method.
Multidisciplinary design optimization (MDO) which can well exploit the mutuallyinteracting phenomena of different subsystems provides an effective method for optimaldesign of complex system. Aimming at figuring out how to compromise and achieving datatransfer among disciplines during the optimal problem of AUV general design, an AUVwhose job depth is2000m and working range is100km is the objective in this study. TheMDO theory and its application in AUV system are studied for two structural forms: themainstream frame structure made of metal and novel integral structure made of carbon fiber.The main work is as follows:
(1) Six aspects are considered in general design of AUV: hull form, hull frame, energyselsction, pressure shell, propulsion and general layout. The methods of analysis andestablishment of mathematic models for relevant disciplines are summarized. The mutuallycoupling characteristic among subsystems is studied, and the design variables, objectives andconstraints of subsystems and system are defined. Finally, the relations between system andsubsystems are explicated, also the relations among subsystems are explicated.
(2) Approximation model which is one of the most important technologies in the MDOtheory is studied. Based on design of experiments and approximation technology, finiteelement results of serial spherical pressure shell and cylinder pressure shell stiffened by ringsare gained, and different approximation models of stresses and inflective pressure areestablished according these results. Approximation models of drag for serial revolution shapeare constructed using these samples and responses obtained by hydrodynamic numericalcalculation, and the precisions of these models are tested by flume experiments of serialmodels.
(3) Two typical MDO methods that are simultaneous analysis and design andcollaborative optimization are studied in this paper, and the calculational specialty andadaptive field of the two methods are analysed according a mathematical example. Thearithmetic of NSGA-II is investigated to deal with multi-objectives problem inmultidisplinary optimization. MDO is applied to two typical problems in AUV design: theintegrative design of hull form and energy and the integrated design of resistance andmanoeuvre.
(4) The scheme of metal frame structure for object AUV is designed, and fivesubsystems that are energy, hull form, manoeuvre, pressure shell and frame structure are setup.The inputs and outputs of all of the five mathematical model for subsystems and theoptimal objective,constraints and variables for system are defined. According to thesimultaneous analysis and design method, five subsystems are integrated. Finally, the optimalresult that can satisfy the assignment book is gained after MDO calculation.
(5) The scheme of integral structure made of carbon fiber for object AUV is designed,the structural strength analysis is researched and APDL command lines of strength analysisbased on parameters are set up. Four subsystems that are energy, hull form, manoeuvre andframe structure are integrated. Also, the optimal result that can satisfy the assignment book issuccessfully gained after MDO calculation.Finally, the scheme of structure made of carbonfiber which has a big advantange over that made of metal is adopted by the objective AUV.
It turns out that the MDO process of AUV general design in this paper covers manyprimary contents and the optimal result can give information of many important parameters ofenergy capability, pressure structure, carrier structure, rudder area and so on. The optimalresult can be efficiently gained from the MDO process only by setting the design variable andcontrol conditions without man-made reiteration in the design course. The method haspreferable practicability and universal property for AUV design.
多学科设计优化能够充分利用不同学科之间的相互作用所产生的协同效应，是进行复杂系统优化设计的有效方法。从如何在潜器总体设计过程中考虑各学科间的权衡折衷和数据交流作为出发点，以潜深2000m航程100km的深海无人智能潜器的总体设计优化问题为研究目标，针对当前主流的金属材料框架式结构潜器，及较为新颖的有着良好应用前景的复合材料一体式结构潜器，本文进行了多学科设计优化方法的理论与应用研究。本文作出的主要工作有：
（1）考虑潜器总体设计包含的艇型、载体结构、耐压结构、能源选择、推进系统、总布置设计六大方面，介绍了阻力性能、结构性能、操纵性能、推进性能等主要学科的分析建模方法。分析了潜器设计中的学科耦合特点，并按照多学科优化的思想进行了系统分解，明确了系统与子系统、子系统之间的关系。
（2）研究了多学科设计优化的关键技术—近似模型技术。研究了试验设计方法及全局近似技术，根据系列耐压圆柱壳、球壳结构有限元分析结果，建立了强度和屈曲压力的结构性能近似模型；根据系列水滴型回转体数值计算结果，建立了潜器阻力性能近似计算模型，并通过模型试验进行了精度检验。
（3）研究了两种典型的多学科优化过程—同时分析与设计方法及协同优化方法，通过数学算例得出了各自的计算特点与适用范围。针对多个学科的多目标优化问题，本文研究了基于Pareto解的多目标遗传算法NSGA-Ⅱ，并将其与多学科设计优化过程相结合。应用多学科优化方法完成了潜器设计的两个典型实例：艇型能源的一体化设计、操纵性与快速性的综合优化设计。
（4）针对目标潜器设计了立体框架式结构方案，建立了能源系统设计、艇型设计、操纵面设计、耐压结构设计和框架结构设计，这五个子系统的分析优化数学模型，提出子系统的输入输出变量，并确立了系统级设计变量、优化目标及约束条件。根据同时分析与设计方法的思想，集成了耐压舱的结构分析、框架结构分析、艇型阻力性能分析的近似模型及操纵性能分析程序，完成了综合5个子系统的框架式潜器的总体多学科优化设计，得到满足任务书要求的最优设计结果。
（5）针对目标潜器设计了碳纤维复合材料一体式结构方案，研究了复合材料结构艇体的强度分析方法，建立了基于参数化的强度分析命令流。集成了能源系统设计、艇型设计、操纵面设计和艇体结构设计的分析计算模型，完成了复合材料一体式潜器的总体多学科优化设计，获得了满足任务书要求的最优设计结果。计算发现，较之金属材料框架式结构潜器，复合材料结构潜器的优势十分明显，而最终目标潜器也将采用碳纤维复合材料一体式的结构形式。
结果表明，本文建立的潜器总体设计的多学科优化过程，涵盖了总体设计的主要内容，最优设计方案中能够同时给出能源需求、耐压结构参数、框架结构参数、艇型主尺度、舵面积等重要参数。优化过程不需要人为反复修改设计，仅通过控制和修改设计变量，在较短的时间内即可得到预期的优化结果，并且该方法具有一定的通用性和实用性。
Autonomous underwater vehicle (AUV) is a typical complex engineering systeminvolving many coupling disciplines. Designing an AUV should deal with hull form, pressureshell, frame structure, energy selection, propulsion, manoeuvre and control mode and so on.The conventional design method for AUV is carried through orderly following the principleof different phases and different disciplines, which results in the reiteration in the designcourse. Besides, the optimal result of AUV system is often lost because of an absence ofbalanced consideration among disciplines. Consequently, the design efficiency and systemperformance are decreased using conventional design method.
Multidisciplinary design optimization (MDO) which can well exploit the mutuallyinteracting phenomena of different subsystems provides an effective method for optimaldesign of complex system. Aimming at figuring out how to compromise and achieving datatransfer among disciplines during the optimal problem of AUV general design, an AUVwhose job depth is2000m and working range is100km is the objective in this study. TheMDO theory and its application in AUV system are studied for two structural forms: themainstream frame structure made of metal and novel integral structure made of carbon fiber.The main work is as follows:
(1) Six aspects are considered in general design of AUV: hull form, hull frame, energyselsction, pressure shell, propulsion and general layout. The methods of analysis andestablishment of mathematic models for relevant disciplines are summarized. The mutuallycoupling characteristic among subsystems is studied, and the design variables, objectives andconstraints of subsystems and system are defined. Finally, the relations between system andsubsystems are explicated, also the relations among subsystems are explicated.
(2) Approximation model which is one of the most important technologies in the MDOtheory is studied. Based on design of experiments and approximation technology, finiteelement results of serial spherical pressure shell and cylinder pressure shell stiffened by ringsare gained, and different approximation models of stresses and inflective pressure areestablished according these results. Approximation models of drag for serial revolution shapeare constructed using these samples and responses obtained by hydrodynamic numericalcalculation, and the precisions of these models are tested by flume experiments of serialmodels.
(3) Two typical MDO methods that are simultaneous analysis and design andcollaborative optimization are studied in this paper, and the calculational specialty andadaptive field of the two methods are analysed according a mathematical example. Thearithmetic of NSGA-II is investigated to deal with multi-objectives problem inmultidisplinary optimization. MDO is applied to two typical problems in AUV design: theintegrative design of hull form and energy and the integrated design of resistance andmanoeuvre.
(4) The scheme of metal frame structure for object AUV is designed, and fivesubsystems that are energy, hull form, manoeuvre, pressure shell and frame structure are setup.The inputs and outputs of all of the five mathematical model for subsystems and theoptimal objective,constraints and variables for system are defined. According to thesimultaneous analysis and design method, five subsystems are integrated. Finally, the optimalresult that can satisfy the assignment book is gained after MDO calculation.
(5) The scheme of integral structure made of carbon fiber for object AUV is designed,the structural strength analysis is researched and APDL command lines of strength analysisbased on parameters are set up. Four subsystems that are energy, hull form, manoeuvre andframe structure are integrated. Also, the optimal result that can satisfy the assignment book issuccessfully gained after MDO calculation.Finally, the scheme of structure made of carbonfiber which has a big advantange over that made of metal is adopted by the objective AUV.
It turns out that the MDO process of AUV general design in this paper covers manyprimary contents and the optimal result can give information of many important parameters ofenergy capability, pressure structure, carrier structure, rudder area and so on. The optimalresult can be efficiently gained from the MDO process only by setting the design variable andcontrol conditions without man-made reiteration in the design course. The method haspreferable practicability and universal property for AUV design.
引文
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