摘要
文中选取横摇、纵摇和垂荡运动幅值为衡量耐波性的指标,采用线性二次型调节器(LQR),并用斑马优化算法(ZOA)优化LQR参数,完成了无人水面水翼航行器耐波性研究。首先,以无人水面水翼航行器为研究对象,以差动襟翼转动角度和电机推力作为控制变量,建立其运动学与动力学模型,并将数学模型进行线性化处理;然后,将不规则海浪的质点垂加速度与波倾角作为干扰,采用Simulink进行LQR仿真;以降低无人水面水翼航行器航行过程中的运动幅值为目标,在不同采样频率及种群数量下,分别使用ZOA和粒子群算法对LQR的参数进行寻优并作对比;最后在不同遭遇角的随机海浪干扰下对耐波性指标进行仿真分析,验证LQR和ZOA算法的有效性与可行性,并给出无人水面水翼航行器的合理航向角,为其姿态控制及耐波性研究提供理论参考。
To evaluate the seakeeping of a hydrofoil-equipped unmanned surface vessel(USV),a linear quadraticregulator(LQR)was adopted,and its parameters were optimized using the zebra optimization algorithm(ZOA),with theamplitudes of roll,pitch,and heave motions as key metrics.First,the kinematics and dynamics models of the hydrofoil-equipped USV were established with differential flap rotation angles and motor thrust as the control variables,and themathematical model was linearized.Next,the vertical particle acceleration and slope of irregular waves were introduced asdisturbance,and the LQR was simulated using Simulink.To minimize the motion amplitude of hydrofoil-equipped USVduring navigation,the LQR parameters were optimized using ZOA and particle swarm optimization(PSO)algorithms,respectively under different sampling frequencies and population sizes for comparison.Finally,simulation under random wavedisturbances at different encounter angles was performed to validate the effectiveness and feasibility of LQR and ZOAmethods,providing the optimal course angle and references for the attitude control and seakeeping research of hydrofoil-equipped USVs.
作者
水新华
段富海
SHUI Xinhua;DUAN Fuhai(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《水下无人系统学报》
2025年第1期65-73,共9页
Journal of Unmanned Undersea Systems
基金
国家自然科学基金(51975082).
关键词
无人水面水翼航行器
耐波性
随机海浪
线性二次型调节器
斑马优化算法
hydrofoil-equipped unmanned surface vehicle
seakeeping
random ocean waves
linear quadratic regulator
zebraoptimization algorithm
作者简介
水新华(1997-),男,在读硕士,主要研究方向为无人水面水翼航行器耐波性.
