复杂海况下新型水下航行器设计与关键技术研究
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摘要
现代自主式水下航行器是一个能在复杂海洋环境下执行各种军民用任务的智能化无人平台，能够较好地满足科学研究、军事行动和商业应用等需求，充分开发和利用海洋资源。随着使命需求的不断复杂化和多样化，水下航行器正朝着系统化、多功能化及集群技术方向发展。现有功能单一的水下航行器已无法满足目前任务需求的变化，更重要的是复杂海况下水下航行器的设计理论也亟待进一步完善，以适应水下航行器的概念设计，保证多功能水下航行器具有抵抗环境扰动、机动灵活地完成各种任务的能力。因此，复杂海况下多运动态新型水下航行器的总体设计及相应关键技术问题的研究对于推进我国自主式水下航行器的发展具有重要的理论意义和工程应用价值。本文密切追踪自主式水下航行器的国际发展前沿，以小型化、模块化、经济性和可靠性为设计目标，研制了一种具有水下矢量推进航行、海底着陆坐底、地面轮式行驶和地面爬行功能的多运动态新型水下航行器，并针对其在复杂海况下的运动学与动力学、航行控制以及绕流场特性等若干关键理论问题进行了系统深入地研究，为进一步制作试验样机提供了重要的理论依据和技术指导。概括起来，论文的主要成果有以下几个方面：
(1)提出了多运动态新型水下航行器的总体设计方案。采用主附体可分离的总体结构，分别设计了升沉系统、矢量推进装置、测量和通讯模块、操纵模块以及控制系统，并详细分析了其系统结构及工作原理，保证了新型水下航行器具有水下矢量推进航行、海底着陆坐底、地面轮式行驶和地面爬行的多动态功能。其中活塞式升沉系统完成重力与浮力的分布调节，矢量推进装置实现轮、腿、推进和航向控制四种功能的完全统一，测量与通讯模块应用经济性设计的复用调节系统，操纵模块采用正交设计和传动精度高的齿轮传动机构，控制系统采用分布式控制系统结构。该新型水下航行器采用舵和矢量推进器联合进行航向控制，实现了高、低速下不同航向控制方式的多种运动模式。其各主要功能机构的创新性设计和运动学分析表明，所设计的新型水下航行器完全符合设计目标和功能要求。
(2)研究了新型轮式螺旋桨的参数化设计及其力学性能。螺旋桨是一种特殊的复杂曲面零件，根据其结构特点和工艺要求定义参数化变量，推导出螺旋桨叶切面局部坐标系到全局坐标系的坐标转换公式。采用Matlab编程技术解决将不同图谱形式提供的叶切面几何参数应用到三维CAD建模过程的问题。通过Solidworks软件曲面放样、曲面缝合和曲面加厚等命令完成复杂曲面螺旋桨的实体造型。两种形式螺旋桨图谱的造型实例表明，螺旋桨参数化设计过程简单实用、提高了系列螺旋桨的生成效率。在此基础上，运用计算流体动力学(CFD)理论，采用分区混合网格方案，将RANS方程分别与标准k-ε、标准k-w及RSM三种湍流模型相结合探索了螺旋桨粘性流场的数值计算方法。通过DTMB4119桨、DTRC3745桨和D4-70桨敞水性能预报值与试验数据的对比，验证了螺旋桨造型方法的准确性和其敞水性能数值计算方法的正确性。其中，DTMB4119桨的敞水性能计算值中，RSM、标准k-ε和标准k-w模型的最大误差分别为5.47%、7.41%和11.21%，这表明RSM湍流模型更适合螺旋桨粘性流场的数值计算，且具有较高的预报精度，为复杂旋转机械粘性流场计算中湍流模式的选取提供了参考意见。通过对螺旋桨粘性流场计算结果的分析，给出了螺旋桨粘性流动所特有的流动分离、梢涡的形成与结构以及尾流场等一些重要现象和特征，为新型高效螺旋桨的设计提供了理论指导。在导管螺旋桨和梢载螺旋桨(CLT)特性分析的指导下，通过一系列螺旋桨的敞水性能计算与对比，提出了一种具有推力大、结构强度高、流体动力性能稳定及抗桨叶颤振等优点的新型轮式螺旋桨(WPD4-70)设计方案，突破了螺旋桨功能单一的设计瓶颈。为保证新型水下航行器着陆行驶的安全性和稳定性，通过有限元方法对WPD4-70进行非线性屈曲分析得到了其最大许用载荷为3975N。同时，对WPD4-70进行的模态分析得到了其固有频率和振型，各阶固有频率均小于模型Ⅳ的相应值，这表明在行驶状态下其隔振能力得到增强。从前四阶振型图看，一阶振型(主振型)表现为桨叶的扭曲，其余振型则表现为轮边的径向伸缩。最终设计的WPD4-70具有较好的敞水性能和强度特性，完全满足新型水下航行器的多运动态功能要求。
(3)研究了复杂海况下新型水下航行器的非线性动力学问题。根据新型水下航行器的结构特点和运动特性，运用欧拉角法建立了六自由度运动学模型。采用四元数法解决了欧拉角法中奇异点(纵倾角θ=±90)影响任意姿态角运动仿真问题。基于随机波浪理论，分别基于牛顿第二定律和拉格朗日方法建立了复杂海况下新型水下航行器的六自由度非线性动力学模型，两种理论方法所推导的动力学模型完全一致，验证了数学模型的正确性。在此基础上，建立了新型水下航行器复杂海况下低频运动和高频运动的数学模型。采用四阶五级龙格-库塔积分算法进行动力学方程求解，不仅可以模拟航行器巡航、悬停等运动模式，还可以描述航行器的低频和高频运动状态，解决了复杂海况下新型水下航行器的耦合非线性空间运动方程运算难和显示难的问题。通过新型水下航行器无环境干扰条件下空间运动性能的计算以及有环境干扰条件下位姿信号的分析，进一步验证了其运动学和动力学模型的有效性，并表明低速航行时采用矢量推进器控制航向和高速航行时采用舵控制航向可以较大地提高水下航行器的机动性能，同时，复杂海况下有必要对新型水下航行器的测量位姿信号进行滤波处理，仅对滤波后的低频位姿信号进行控制可以有效避免能源浪费和推进器磨损等问题。
(4)研究了复杂海况下新型水下航行器轨迹跟踪控制问题。新型水下航行器在复杂海况下的快速性和稳定性需要具有较强鲁棒性的控制系统来实现，针对其姿态控制中存在的非线性项和未建模动态，以及外界海洋环境所带来的扰动，采用动态边界层法设计了一种考虑舵执行器动力学特性的二阶双环结构滑模控制器，采用李雅普诺夫稳定性理论验证了控制器的稳定性，并分五种情况分析了系统参数、舵执行器限制条件和边界层等对滑模控制器的影响，证明了基于动态边界层滑模控制器可以有效解决舵执行器幅值和速率限制所导致的姿态控制中滑动模态丧失的问题，并能够避免因理论设计与实际应用条件不符而导致的滑模控制失效。基于潜艇理论，将新型水下航行器的六自由度运动学和动力学方程分解成互不耦合的水平面子系统和纵平面子系统。针对位移无法直接测量而仅能获得偏航角和偏航角速度的水平面子系统，采用基于横向轨迹误差法和视线法相结合的滑模控制器实现了其在不同海况下的高精度轨迹跟踪控制，并保证了航向误差过大时滑模控制器的鲁棒性和控制精度。而针对新型水下航行器纵向位移可测的纵平面子系统，基于单输入多状态系统设计了一种性能稳定的滑模控制器，计算中考虑了水平舵动力学特性以及水平舵偏摆角幅值和速率的限制，采用动态边界层提高了系统的鲁棒性和控制精度，实现了新型水下航行器在不同海况下按照期望姿态准确跟踪时变深度指令信号的能力。通过对比不同海况下新型水下航行器的轨迹跟踪效果，定性和定量上分析了海流和波浪对新型水下航行器滑模控制器的影响，为真实复杂环境下新型水下航行器控制系统的设计提供了理论指导。
(5)研究了复杂海况下新型水下航行器的粘性流场特性。基于滑移网格技术，结合RANS方程和SST k-w湍流模型，运用PISO算法对无环境干扰条件下带桨航行器的非定常粘性流场进行了数值求解，计算结果具有较好的收敛性，能够反映新型水下航行器绕流场的真实情况。通过对无环境干扰条件下螺旋桨/航行器艇体流场整体计算与独立计算所得的阻力、速度、压强等进行比较与分析，定性和定量上预报了新型水下航行器艇体伴流与轮式螺旋桨抽吸作用之间的相互作用机理，为真实环境下新型水下航行器艇体和螺旋桨的优化设计、振动与噪声的研究提供了理论依据。新型水下航行器通常需要在复杂海况下完成海面航行状态时的通信任务，因此，有必要对其在海面上高速迎浪航行时的运动形式和绕流场特性进行研究。根据其在波浪中的运动特点，考虑动升力影响，基于切片理论建立了新型水下航行器在微幅规则波中高速迎浪运动的数学模型，并采用高斯消元法计算出了新型水下航行器垂荡和纵摇的运动规律。基于动网格技术，采用以DEFINE_CG_MOTION宏编制的UDF函数程序源代码实现了新型水下航行器在绕流场计算域内高速迎浪航行状态下的运动形式。根据新型水下航行器纵向运动系统的坐标转换原理，采用以DEFINE宏编制UDF函数程序源代码的纯数值造波技术，通过自定义非定常入口边界实现了新型水下航行器绕流场计算域的三维数值造波。在此基础上，运用CFD技术，结合RANS方程、SST k-w模型以及VOF模型建立了新型水下航行器带自由液面的非定常粘性绕流场数学模型。通过数值计算得到了新型水下航行器的阻力、升力、纵倾力矩、速度、压强以及兴波等流场参数，较好地反映了航行器高速迎浪航行时绕流场的真实情况。自由液面的波形刻画总体上与试验中穿浪航行器的兴波轮廓完全相符，有效验证了数值计算方法的正确性。
Modern autonomous underwater vehicle (AUV) is an intelligent unmannedplatform to perform a variety of military and civilian mission in complex marineenvironment, which can better meet the needs such as scientific research, militaryoperations and commercial applications and full utilize the marine resources. With themission needs of increasingly complex and diverse, the AUV is developing in thedirection of systematism, multifunction, and clustering technology. Existing AUV withsingle function has been unable to meet the needs of the current mission. Moreimportantly, the design theory of the AUV in complex sea conditions also need to befurther improved to adapt to the conceptual design of the AUV, which ensures that themulti-function AUV can resist environmental disturbances and be ability to completevarious tasks flexibly. Therefore, the overall design and the corresponding key technicalissues of a multi-moving state AUV in complex sea conditions has important theoreticalsignificance and engineering value for promoting the development of the domesticAUV. The international development forefront of the AUV is closely followed in thispaper. The smallness, modularity, economization and reliability are the design goals ofa new AUV. A multi-moving state AUV provided with the functions such as thesubmarine vectorial thrust, landing on the sea bottom, wheel driving on the ground andcrawling on the ground is developed and a number of key theoretical issues such askinematics and dynamics, navigation control and the ambient flow field in complex seaconditions are studied systematically, which provides an important theoretical basis andtechnical guidance for the further production of the experimental prototype. To sum up,the main results in this paper contain the following areas:
(1) The overall design of a multi-moving state AUV is proposed. The main andaccessory structures adopt the separable form. The heave system, vectorial thruster,measurement and communication module, manipulation module and control system aredesigned. The structure and working principle of each system are made a detailedanalysis, which guarantees that the multi-moving state AUV has the functions such asthe submarine vectorial thrust, landing on the sea bottom, wheel driving on the groundand crawling on the ground. The piston-type heave system completes the distributionregulation of gravity and buoyancy. The vectorial thruster achieves four functions suchas wheels, legs, thrusters and course control. The measuring the communication moduleapplies the economical design reuse-conditioning systems. The manipulation moduleuses the orthogonal-design and high-precision transmission gear as drive mechanism.The control system uses the distributed control system architecture. The new AUV isequipped with rudders and vectored thrusters, which are combined to control the coursefor realizing multi-motion modes in different control modes of high speed and low speed respectively. The innovative design and kinematic analysis of each majormachine show that the new AUV designed in this paper is fully in accord with thedesign goals and functional requirements.
(2) The parameterized design and mechanical properties of a new wheel propellerare studied. The propeller is a special kind of complex surface parts. The parametricvariables are defined according to the structural characteristics and process requirements,and then the coordinate transformation formula of transforming the local coordinates ofthe points on section planes to the global coordinates is deduced. The problem ofapplying different geometric parameter atlases to solid modeling is resolved usingMatlab process. Then demands of surface-loft, knit surface, thicken and so on are usedto complete the solid modeling. Two forms of modeling examples show that the processof parameterized design is simple and practical, which improves the efficiency of serialmodeling. On this basis, the computational fluid dynamics (CFD) method is applied toexplore the numerical methods of the propeller open-water performance by using theRANS equation and three different turbulence models including standard k-ε, standardk-w and RSM based on sub-domains hybrid meshes. The computational results ofopen-water performance of the propellers including DTMB4119, DTRC3745and D4-70are in good agreement with the experimental data, which verifies the correctness ofsolid modeling and numerical methods. The maximum error of RSM, standard k-ε andstandard k-w in the computational results of DTMB4119open-water performance are5.47%,7.41%and11.21%, which shows that the numerical method using RSM hasgood accuracy in the prediction of propeller open-water performance. This conclusionmay guide the selection of turbulence models in viscous flow computation aroundcomplex rotating machine. Some important viscous flow characteristics of the propellersuch as flow separation, tip vortex and trailing wake are got, which provides aneffective reference for the design of new efficient thruster. A new wheel propeller(WPD4-70) with the advantages of a large thrust, high structural strength, stablehydrodynamic performance and anti-blade flutter is present through a series of propelleropen-water performance computation and comparison under the guidance of thecharacteristic analysis of the ducted propeller and the contracted and loaded tip (CLT)propeller, which breaks the design bottleneck of the single function propeller. In orderto ensure the security and stability of the AUV when it is moving on the ground,nonlinear buckling analysis based on finite element method is used to compute themaximum allowable load of WPD4-70, the computational result is3975N. Meanwhile,the natural frequencies and vibration modes are got through the modal analysis ofWPD4-70, each natural frequency is less than the corresponding value of the model Ⅳ,which indicates that the ability of its vibration insulation in the driving state is enhanced.The past four vibration modes show that the first vibration mode (main vibration mode) is the distortion of the blades and the remaining modes are the radial stretching the edgeof the wheel. The final WPD4-70has preferable open-water performance and intensitycharacteristics, which can realize the functional requirements of the multi-moving stateAUV.
(3) The nonlinear dynamics of the new AUV is studied in complex sea conditions.Euler angles representation is applied to establish six-DOF nonlinear kinematic modelaccording to the structural characteristics and motion characteristics of the new AUV. Inorder to achieve the satisfactory performance with arbitrary angles, the quaternionmethod is used to solve the especial singularities when the pitch angles are±90o. TheNewton second law and Lagrangian approach are used to deduce the vectored thrusterAUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively incomplex sea conditions based on the random wave theory, the dynamic models of thetwo methods are same, which shows that the dynamic model of the vectored thrusterAUV is accurate. On this basis, the mathematical model of the new AUV’slow-frequency motion and high-frequency motion in complex sea conditions areestablished. The Runge-Kutta arithmetic is used to solve the dynamic equations, whichnot only can simulate the motions such as cruise and hover but also can describe thevehicle’s low-frequency and high-frequency motion, so this method clears up thedifficulties of computation and display of the coupled nonlinear motion equations incomplex sea conditions. The kinematic model and dynamic model are proved to bevalid through the computation and analysis of its spatial motion’s performance ininterference-free environment and the analysis of the integrated signals includinglow-frequency motion signal and high-frequency motion signal in environmentaldisturbance, which shows that the maneuverability of the vectored thruster AUVequipped with rudders and vectored thrusters is enhanced. Furthermore, it is necessaryto filter the measurement of the new AUV’s position and orientation signal in complexsea conditions, and the low-frequency motion signal control can effectively avoid theproblem of energy waste and propeller wear.
(4) The trajectory tracking control problem of the new AUV in complex seaconditions is studied. The fastness and stability of the new AUV in complex seaconditions need the control system with strong robustness to complete. In order to solvethe nonlinear term and unmodeled dynamics existing in the new AUV’s attitude controland the disturbances caused by the external marine environment, a second-order slidingmode controller with double-loop structure that considering the dynamic characteristicsof the rudder actuators is designed. Then Lyapunov stability theory is used to verify thestability of the controller. the impacts of system parameters, rudder actuator’sconstraints and boundary layer on the sliding mode controller are computed andanalyzed to verify that the sliding mode controller based on dynamic boundary layer can effectively resolve sliding mode loss in the attitude control caused by the rudderactuator amplitude and rate limiting and avoid the control failure caused by that thedesign theory does not match with the actual application conditions. According to thesubmarine theory, six-DOF motion equations of the new AUV are decomposed into twomutually non-coupled subsystems, namely the horizontal plane subsystem and thevertical plane subsystem. As the yaw angle and yaw angle rate rather than thedisplacement of the new AUV can be measured directly in the horizontal plane, thesliding mode control algorithm combining cross track error method and line of sightmethod is used to fulfill its high-precision trajectory tracking control in different seaconditions, which ensures the robustness and accuracy of the sliding mode controllerwhen the heading error is too large. As the vertical displacement of the new AUV canbe measured, a stable sliding mode controller is designed based on the single-inputmulti-states system，which takes into account the characteristic of the hydroplane andthe amplitude and rate constraints of the hydroplane angle. Moreover, the using ofdynamic boundary layer improves the robustness and control accuracy of the system,which realizes the accurate tracking of time-varying depth signal with the desiredattitude in different sea conditions. The impacts of currents and waves on the slidingmode controller of the new AUV are analyzed qualitatively and quantitatively bycomparing the trajectory tracking performance of the new AUV in different seaconditions, which provides an effective theoretical guidance for the control systemdesign of the new AUV in real complex environment.
(5) The hydrodynamic characteristics of the viscous flow field around the newAUV in complex sea conditions are studied. The CFD method is used to simulatenumerically the unsteady viscous flow around the new AUV with propellers innon-environmental interference conditions by using the RANS equations, SST k-wmodel and pressure implicit with splitting of operators (PISO) algorithm based onsliding mesh. The computational results have good convergence, which reflects well thereal ambient flow field of the new AUV with propellers. The interaction between AUVhull and wheel propellers is predicted qualitatively and quantitatively by comparing thehydrodynamic parameters such as resistance, pressure, velocity and so on that fromintegral computation and partial computation of the viscous flow around the AUV withpropellers in non-environmental interference conditions, which provides an effectivereference to the optimization design, vibration and noise of the AUV hull and propellersin real environment. The communication tasks usually require the new AUV to navigateon the sea surface in complex sea conditions. Therefore, the movement forms and flowfield characteristics of the new AUV navigating in head sea at high speed are necessaryto be studied. The mathematical model of the high-speed AUV in head sea isestablished with considering the hydrodynamic lift based on strip theory according to the motion characteristics of the new AUV in waves, which is solved to get the heaveand pitch of the AUV by Gaussian elimination method. Then the motion processes ofthe AUV’s heave and pitch are realized in the numerical computation of the flow fieldaround the AUV based on the dynamic mesh that driven by the UDF function sourcecode compiled with DEFINE_CG_MOTION macro. According to the coordinatetransformation principle of AUV’s longitudinal motion theory and the technique ofpurely numerical wave based on the UDF function source code compiled with DEFINEmacro, the three-dimensional numerical wave of the computational field is realizedthrough defining the unsteady inlet boundary condition. On this basis, the CFD theory isused to establish the mathematical model of the unsteady viscous flow around the AUVwith considering free surface effort by using the RANS equations, SST k-w model andVOF model. The hydrodynamic parameters of the AUV such as drag, lift, pitch torque,velocity, pressure, and wave profile are got by numerical computation, which predictwell the real flow field around the high-speed AUV in head sea. The computationalwake of the AUV is in good agreement with the experimental phenomenon of awave-piercing surface vehicle, which verifies effectively the correctness of thenumerical method.
(1)提出了多运动态新型水下航行器的总体设计方案。采用主附体可分离的总体结构，分别设计了升沉系统、矢量推进装置、测量和通讯模块、操纵模块以及控制系统，并详细分析了其系统结构及工作原理，保证了新型水下航行器具有水下矢量推进航行、海底着陆坐底、地面轮式行驶和地面爬行的多动态功能。其中活塞式升沉系统完成重力与浮力的分布调节，矢量推进装置实现轮、腿、推进和航向控制四种功能的完全统一，测量与通讯模块应用经济性设计的复用调节系统，操纵模块采用正交设计和传动精度高的齿轮传动机构，控制系统采用分布式控制系统结构。该新型水下航行器采用舵和矢量推进器联合进行航向控制，实现了高、低速下不同航向控制方式的多种运动模式。其各主要功能机构的创新性设计和运动学分析表明，所设计的新型水下航行器完全符合设计目标和功能要求。
(2)研究了新型轮式螺旋桨的参数化设计及其力学性能。螺旋桨是一种特殊的复杂曲面零件，根据其结构特点和工艺要求定义参数化变量，推导出螺旋桨叶切面局部坐标系到全局坐标系的坐标转换公式。采用Matlab编程技术解决将不同图谱形式提供的叶切面几何参数应用到三维CAD建模过程的问题。通过Solidworks软件曲面放样、曲面缝合和曲面加厚等命令完成复杂曲面螺旋桨的实体造型。两种形式螺旋桨图谱的造型实例表明，螺旋桨参数化设计过程简单实用、提高了系列螺旋桨的生成效率。在此基础上，运用计算流体动力学(CFD)理论，采用分区混合网格方案，将RANS方程分别与标准k-ε、标准k-w及RSM三种湍流模型相结合探索了螺旋桨粘性流场的数值计算方法。通过DTMB4119桨、DTRC3745桨和D4-70桨敞水性能预报值与试验数据的对比，验证了螺旋桨造型方法的准确性和其敞水性能数值计算方法的正确性。其中，DTMB4119桨的敞水性能计算值中，RSM、标准k-ε和标准k-w模型的最大误差分别为5.47%、7.41%和11.21%，这表明RSM湍流模型更适合螺旋桨粘性流场的数值计算，且具有较高的预报精度，为复杂旋转机械粘性流场计算中湍流模式的选取提供了参考意见。通过对螺旋桨粘性流场计算结果的分析，给出了螺旋桨粘性流动所特有的流动分离、梢涡的形成与结构以及尾流场等一些重要现象和特征，为新型高效螺旋桨的设计提供了理论指导。在导管螺旋桨和梢载螺旋桨(CLT)特性分析的指导下，通过一系列螺旋桨的敞水性能计算与对比，提出了一种具有推力大、结构强度高、流体动力性能稳定及抗桨叶颤振等优点的新型轮式螺旋桨(WPD4-70)设计方案，突破了螺旋桨功能单一的设计瓶颈。为保证新型水下航行器着陆行驶的安全性和稳定性，通过有限元方法对WPD4-70进行非线性屈曲分析得到了其最大许用载荷为3975N。同时，对WPD4-70进行的模态分析得到了其固有频率和振型，各阶固有频率均小于模型Ⅳ的相应值，这表明在行驶状态下其隔振能力得到增强。从前四阶振型图看，一阶振型(主振型)表现为桨叶的扭曲，其余振型则表现为轮边的径向伸缩。最终设计的WPD4-70具有较好的敞水性能和强度特性，完全满足新型水下航行器的多运动态功能要求。
(3)研究了复杂海况下新型水下航行器的非线性动力学问题。根据新型水下航行器的结构特点和运动特性，运用欧拉角法建立了六自由度运动学模型。采用四元数法解决了欧拉角法中奇异点(纵倾角θ=±90)影响任意姿态角运动仿真问题。基于随机波浪理论，分别基于牛顿第二定律和拉格朗日方法建立了复杂海况下新型水下航行器的六自由度非线性动力学模型，两种理论方法所推导的动力学模型完全一致，验证了数学模型的正确性。在此基础上，建立了新型水下航行器复杂海况下低频运动和高频运动的数学模型。采用四阶五级龙格-库塔积分算法进行动力学方程求解，不仅可以模拟航行器巡航、悬停等运动模式，还可以描述航行器的低频和高频运动状态，解决了复杂海况下新型水下航行器的耦合非线性空间运动方程运算难和显示难的问题。通过新型水下航行器无环境干扰条件下空间运动性能的计算以及有环境干扰条件下位姿信号的分析，进一步验证了其运动学和动力学模型的有效性，并表明低速航行时采用矢量推进器控制航向和高速航行时采用舵控制航向可以较大地提高水下航行器的机动性能，同时，复杂海况下有必要对新型水下航行器的测量位姿信号进行滤波处理，仅对滤波后的低频位姿信号进行控制可以有效避免能源浪费和推进器磨损等问题。
(4)研究了复杂海况下新型水下航行器轨迹跟踪控制问题。新型水下航行器在复杂海况下的快速性和稳定性需要具有较强鲁棒性的控制系统来实现，针对其姿态控制中存在的非线性项和未建模动态，以及外界海洋环境所带来的扰动，采用动态边界层法设计了一种考虑舵执行器动力学特性的二阶双环结构滑模控制器，采用李雅普诺夫稳定性理论验证了控制器的稳定性，并分五种情况分析了系统参数、舵执行器限制条件和边界层等对滑模控制器的影响，证明了基于动态边界层滑模控制器可以有效解决舵执行器幅值和速率限制所导致的姿态控制中滑动模态丧失的问题，并能够避免因理论设计与实际应用条件不符而导致的滑模控制失效。基于潜艇理论，将新型水下航行器的六自由度运动学和动力学方程分解成互不耦合的水平面子系统和纵平面子系统。针对位移无法直接测量而仅能获得偏航角和偏航角速度的水平面子系统，采用基于横向轨迹误差法和视线法相结合的滑模控制器实现了其在不同海况下的高精度轨迹跟踪控制，并保证了航向误差过大时滑模控制器的鲁棒性和控制精度。而针对新型水下航行器纵向位移可测的纵平面子系统，基于单输入多状态系统设计了一种性能稳定的滑模控制器，计算中考虑了水平舵动力学特性以及水平舵偏摆角幅值和速率的限制，采用动态边界层提高了系统的鲁棒性和控制精度，实现了新型水下航行器在不同海况下按照期望姿态准确跟踪时变深度指令信号的能力。通过对比不同海况下新型水下航行器的轨迹跟踪效果，定性和定量上分析了海流和波浪对新型水下航行器滑模控制器的影响，为真实复杂环境下新型水下航行器控制系统的设计提供了理论指导。
(5)研究了复杂海况下新型水下航行器的粘性流场特性。基于滑移网格技术，结合RANS方程和SST k-w湍流模型，运用PISO算法对无环境干扰条件下带桨航行器的非定常粘性流场进行了数值求解，计算结果具有较好的收敛性，能够反映新型水下航行器绕流场的真实情况。通过对无环境干扰条件下螺旋桨/航行器艇体流场整体计算与独立计算所得的阻力、速度、压强等进行比较与分析，定性和定量上预报了新型水下航行器艇体伴流与轮式螺旋桨抽吸作用之间的相互作用机理，为真实环境下新型水下航行器艇体和螺旋桨的优化设计、振动与噪声的研究提供了理论依据。新型水下航行器通常需要在复杂海况下完成海面航行状态时的通信任务，因此，有必要对其在海面上高速迎浪航行时的运动形式和绕流场特性进行研究。根据其在波浪中的运动特点，考虑动升力影响，基于切片理论建立了新型水下航行器在微幅规则波中高速迎浪运动的数学模型，并采用高斯消元法计算出了新型水下航行器垂荡和纵摇的运动规律。基于动网格技术，采用以DEFINE_CG_MOTION宏编制的UDF函数程序源代码实现了新型水下航行器在绕流场计算域内高速迎浪航行状态下的运动形式。根据新型水下航行器纵向运动系统的坐标转换原理，采用以DEFINE宏编制UDF函数程序源代码的纯数值造波技术，通过自定义非定常入口边界实现了新型水下航行器绕流场计算域的三维数值造波。在此基础上，运用CFD技术，结合RANS方程、SST k-w模型以及VOF模型建立了新型水下航行器带自由液面的非定常粘性绕流场数学模型。通过数值计算得到了新型水下航行器的阻力、升力、纵倾力矩、速度、压强以及兴波等流场参数，较好地反映了航行器高速迎浪航行时绕流场的真实情况。自由液面的波形刻画总体上与试验中穿浪航行器的兴波轮廓完全相符，有效验证了数值计算方法的正确性。
Modern autonomous underwater vehicle (AUV) is an intelligent unmannedplatform to perform a variety of military and civilian mission in complex marineenvironment, which can better meet the needs such as scientific research, militaryoperations and commercial applications and full utilize the marine resources. With themission needs of increasingly complex and diverse, the AUV is developing in thedirection of systematism, multifunction, and clustering technology. Existing AUV withsingle function has been unable to meet the needs of the current mission. Moreimportantly, the design theory of the AUV in complex sea conditions also need to befurther improved to adapt to the conceptual design of the AUV, which ensures that themulti-function AUV can resist environmental disturbances and be ability to completevarious tasks flexibly. Therefore, the overall design and the corresponding key technicalissues of a multi-moving state AUV in complex sea conditions has important theoreticalsignificance and engineering value for promoting the development of the domesticAUV. The international development forefront of the AUV is closely followed in thispaper. The smallness, modularity, economization and reliability are the design goals ofa new AUV. A multi-moving state AUV provided with the functions such as thesubmarine vectorial thrust, landing on the sea bottom, wheel driving on the ground andcrawling on the ground is developed and a number of key theoretical issues such askinematics and dynamics, navigation control and the ambient flow field in complex seaconditions are studied systematically, which provides an important theoretical basis andtechnical guidance for the further production of the experimental prototype. To sum up,the main results in this paper contain the following areas:
(1) The overall design of a multi-moving state AUV is proposed. The main andaccessory structures adopt the separable form. The heave system, vectorial thruster,measurement and communication module, manipulation module and control system aredesigned. The structure and working principle of each system are made a detailedanalysis, which guarantees that the multi-moving state AUV has the functions such asthe submarine vectorial thrust, landing on the sea bottom, wheel driving on the groundand crawling on the ground. The piston-type heave system completes the distributionregulation of gravity and buoyancy. The vectorial thruster achieves four functions suchas wheels, legs, thrusters and course control. The measuring the communication moduleapplies the economical design reuse-conditioning systems. The manipulation moduleuses the orthogonal-design and high-precision transmission gear as drive mechanism.The control system uses the distributed control system architecture. The new AUV isequipped with rudders and vectored thrusters, which are combined to control the coursefor realizing multi-motion modes in different control modes of high speed and low speed respectively. The innovative design and kinematic analysis of each majormachine show that the new AUV designed in this paper is fully in accord with thedesign goals and functional requirements.
(2) The parameterized design and mechanical properties of a new wheel propellerare studied. The propeller is a special kind of complex surface parts. The parametricvariables are defined according to the structural characteristics and process requirements,and then the coordinate transformation formula of transforming the local coordinates ofthe points on section planes to the global coordinates is deduced. The problem ofapplying different geometric parameter atlases to solid modeling is resolved usingMatlab process. Then demands of surface-loft, knit surface, thicken and so on are usedto complete the solid modeling. Two forms of modeling examples show that the processof parameterized design is simple and practical, which improves the efficiency of serialmodeling. On this basis, the computational fluid dynamics (CFD) method is applied toexplore the numerical methods of the propeller open-water performance by using theRANS equation and three different turbulence models including standard k-ε, standardk-w and RSM based on sub-domains hybrid meshes. The computational results ofopen-water performance of the propellers including DTMB4119, DTRC3745and D4-70are in good agreement with the experimental data, which verifies the correctness ofsolid modeling and numerical methods. The maximum error of RSM, standard k-ε andstandard k-w in the computational results of DTMB4119open-water performance are5.47%,7.41%and11.21%, which shows that the numerical method using RSM hasgood accuracy in the prediction of propeller open-water performance. This conclusionmay guide the selection of turbulence models in viscous flow computation aroundcomplex rotating machine. Some important viscous flow characteristics of the propellersuch as flow separation, tip vortex and trailing wake are got, which provides aneffective reference for the design of new efficient thruster. A new wheel propeller(WPD4-70) with the advantages of a large thrust, high structural strength, stablehydrodynamic performance and anti-blade flutter is present through a series of propelleropen-water performance computation and comparison under the guidance of thecharacteristic analysis of the ducted propeller and the contracted and loaded tip (CLT)propeller, which breaks the design bottleneck of the single function propeller. In orderto ensure the security and stability of the AUV when it is moving on the ground,nonlinear buckling analysis based on finite element method is used to compute themaximum allowable load of WPD4-70, the computational result is3975N. Meanwhile,the natural frequencies and vibration modes are got through the modal analysis ofWPD4-70, each natural frequency is less than the corresponding value of the model Ⅳ,which indicates that the ability of its vibration insulation in the driving state is enhanced.The past four vibration modes show that the first vibration mode (main vibration mode) is the distortion of the blades and the remaining modes are the radial stretching the edgeof the wheel. The final WPD4-70has preferable open-water performance and intensitycharacteristics, which can realize the functional requirements of the multi-moving stateAUV.
(3) The nonlinear dynamics of the new AUV is studied in complex sea conditions.Euler angles representation is applied to establish six-DOF nonlinear kinematic modelaccording to the structural characteristics and motion characteristics of the new AUV. Inorder to achieve the satisfactory performance with arbitrary angles, the quaternionmethod is used to solve the especial singularities when the pitch angles are±90o. TheNewton second law and Lagrangian approach are used to deduce the vectored thrusterAUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively incomplex sea conditions based on the random wave theory, the dynamic models of thetwo methods are same, which shows that the dynamic model of the vectored thrusterAUV is accurate. On this basis, the mathematical model of the new AUV’slow-frequency motion and high-frequency motion in complex sea conditions areestablished. The Runge-Kutta arithmetic is used to solve the dynamic equations, whichnot only can simulate the motions such as cruise and hover but also can describe thevehicle’s low-frequency and high-frequency motion, so this method clears up thedifficulties of computation and display of the coupled nonlinear motion equations incomplex sea conditions. The kinematic model and dynamic model are proved to bevalid through the computation and analysis of its spatial motion’s performance ininterference-free environment and the analysis of the integrated signals includinglow-frequency motion signal and high-frequency motion signal in environmentaldisturbance, which shows that the maneuverability of the vectored thruster AUVequipped with rudders and vectored thrusters is enhanced. Furthermore, it is necessaryto filter the measurement of the new AUV’s position and orientation signal in complexsea conditions, and the low-frequency motion signal control can effectively avoid theproblem of energy waste and propeller wear.
(4) The trajectory tracking control problem of the new AUV in complex seaconditions is studied. The fastness and stability of the new AUV in complex seaconditions need the control system with strong robustness to complete. In order to solvethe nonlinear term and unmodeled dynamics existing in the new AUV’s attitude controland the disturbances caused by the external marine environment, a second-order slidingmode controller with double-loop structure that considering the dynamic characteristicsof the rudder actuators is designed. Then Lyapunov stability theory is used to verify thestability of the controller. the impacts of system parameters, rudder actuator’sconstraints and boundary layer on the sliding mode controller are computed andanalyzed to verify that the sliding mode controller based on dynamic boundary layer can effectively resolve sliding mode loss in the attitude control caused by the rudderactuator amplitude and rate limiting and avoid the control failure caused by that thedesign theory does not match with the actual application conditions. According to thesubmarine theory, six-DOF motion equations of the new AUV are decomposed into twomutually non-coupled subsystems, namely the horizontal plane subsystem and thevertical plane subsystem. As the yaw angle and yaw angle rate rather than thedisplacement of the new AUV can be measured directly in the horizontal plane, thesliding mode control algorithm combining cross track error method and line of sightmethod is used to fulfill its high-precision trajectory tracking control in different seaconditions, which ensures the robustness and accuracy of the sliding mode controllerwhen the heading error is too large. As the vertical displacement of the new AUV canbe measured, a stable sliding mode controller is designed based on the single-inputmulti-states system，which takes into account the characteristic of the hydroplane andthe amplitude and rate constraints of the hydroplane angle. Moreover, the using ofdynamic boundary layer improves the robustness and control accuracy of the system,which realizes the accurate tracking of time-varying depth signal with the desiredattitude in different sea conditions. The impacts of currents and waves on the slidingmode controller of the new AUV are analyzed qualitatively and quantitatively bycomparing the trajectory tracking performance of the new AUV in different seaconditions, which provides an effective theoretical guidance for the control systemdesign of the new AUV in real complex environment.
(5) The hydrodynamic characteristics of the viscous flow field around the newAUV in complex sea conditions are studied. The CFD method is used to simulatenumerically the unsteady viscous flow around the new AUV with propellers innon-environmental interference conditions by using the RANS equations, SST k-wmodel and pressure implicit with splitting of operators (PISO) algorithm based onsliding mesh. The computational results have good convergence, which reflects well thereal ambient flow field of the new AUV with propellers. The interaction between AUVhull and wheel propellers is predicted qualitatively and quantitatively by comparing thehydrodynamic parameters such as resistance, pressure, velocity and so on that fromintegral computation and partial computation of the viscous flow around the AUV withpropellers in non-environmental interference conditions, which provides an effectivereference to the optimization design, vibration and noise of the AUV hull and propellersin real environment. The communication tasks usually require the new AUV to navigateon the sea surface in complex sea conditions. Therefore, the movement forms and flowfield characteristics of the new AUV navigating in head sea at high speed are necessaryto be studied. The mathematical model of the high-speed AUV in head sea isestablished with considering the hydrodynamic lift based on strip theory according to the motion characteristics of the new AUV in waves, which is solved to get the heaveand pitch of the AUV by Gaussian elimination method. Then the motion processes ofthe AUV’s heave and pitch are realized in the numerical computation of the flow fieldaround the AUV based on the dynamic mesh that driven by the UDF function sourcecode compiled with DEFINE_CG_MOTION macro. According to the coordinatetransformation principle of AUV’s longitudinal motion theory and the technique ofpurely numerical wave based on the UDF function source code compiled with DEFINEmacro, the three-dimensional numerical wave of the computational field is realizedthrough defining the unsteady inlet boundary condition. On this basis, the CFD theory isused to establish the mathematical model of the unsteady viscous flow around the AUVwith considering free surface effort by using the RANS equations, SST k-w model andVOF model. The hydrodynamic parameters of the AUV such as drag, lift, pitch torque,velocity, pressure, and wave profile are got by numerical computation, which predictwell the real flow field around the high-speed AUV in head sea. The computationalwake of the AUV is in good agreement with the experimental phenomenon of awave-piercing surface vehicle, which verifies effectively the correctness of thenumerical method.
引文
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