本文以小水线面复合单体无人艇为研究对象，在2种吃水条件下，不同初始纵摇角纵摇衰减运动模型试验，测得纵摇角度随时间变化的曲线，共建立4种纵摇衰减运动模式的系统辨识运动方程，基于系统辨识理论和多种现代优化算法设计并改编了计算软件。通过系统辨识后目标函数的比较，确定了最适合此艇型的纵摇运动辨识方程，得到方程中各力矩系数拟和值，且系统辨识角速度和试验角速度的误差范围平均在4%以内，验证了辨识系统的可靠性。选取其中一种典型角度下的纵摇数据作为辨识依据，讨论2种吃水下水动力矩与时间的变化关系。与同吨位单体滑行艇纵摇运动模式进行比较，表明小水线面单体无人艇纵摇衰减能力较强。
In this paper, a small-water-line composite monomer USV was taken as the research object. Two kinds of pitch attenuation motion model tests under different initial pitch angles in draft water were carried out, and the pitch angle curves with time were measured. Four motion equations of pitch attenuation were established. Based on the theory of system identification and several modern optimization algorithms, the software was designed and adapted. By comparing the objective functions after system identification, the identification equation of pitching motion which was most suitable for this type of ship was determined. The fitting values of moment coefficients in equation were obtained, and the error range of angular velocity and experimental angular velocity was less than 4% on average, which was verified the reliability of the identification system. Based on the pitching data from one of the typical angles, the relationship between the two underwater draft hydrodynamic moments and time was discussed. The pitching motion mode of the same tonnage monohull was also discussed. Comparisons showed that the pitch attenuation ability of small waterline monomer USV was stronger.
2019,41(12): 69-73 收稿日期：2019-01-21
DOI：10.3404/j.issn.1672-7649.2019.12.015
分类号：U664
基金项目：国家自然科学基金资助项目（51379094）；江苏省研究生创新计划资助项目（SJCX18_0765）
作者简介：余永强(1992-),男,硕士研究生,研究方向为船舶与海洋工程
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