潜艇应急上浮操纵运动分析与控制技术研究
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摘要
潜艇是现代海军最重要的威慑力量之一，各国海军争相发展。近年来，世界潜艇频繁出事，其安全问题日益突出，研究潜艇应急情况下的操纵运动规律及控制方法是解决潜艇安全问题的基础性研究工作之一，本文率先对这一课题进行了理论研究与探索。
首先，对潜艇压载水舱高压气吹除系统物理模型进行了合理简化，通过分析高压气吹除主压载水舱的动态过程，根据流体力学、空气动力学和热力学等的基本定理定律，首次建立了潜艇主压载水舱高压气吹除系统供气吹除、停止供气和解除气压(或部分气压)操作过程的完整数学模型；另外，利用动力系统建模与仿真软件MSC．EASY5建立了压载水舱高压气吹除过程模型。两者的仿真结果与实艇操纵情况基本吻合。建立了潜艇舱室破损进水时的附加力计算数学模型，与潜艇大攻角运动时的六自由度运动模型、主压载水舱高压气吹除系统模型一起构成了潜艇应急上浮时的完整数学模型，为研究潜艇应急吹除时的运动规律和操纵控制方法提供了条件。
本文首次将非线性系统运动稳定性与分叉理论及其数值分析方法用于潜艇应急上浮运动的稳态响应及稳定性分析，并通过潜艇大攻角六自由度运动方程数值积分的动态仿真对分析结果进行了验证，两者是一致的。通过深入研究航速、升降舵、方向舵和剩余浮力及其作用位置对潜艇应急上浮运动稳定性的影响，表明潜艇应急上浮运动即使在左右舷对称的情况下，并不总是限于垂直面内，可能出现横滚运动，在某种临界条件下，运动可能失稳，出现分叉现象，对这种现象的机理用奇异性与分叉理论进行了分析，为潜艇应急上浮的操纵与控制方法提供了理论依据。
在潜艇六自由度非线性运动基本方程的基础上，结合舱室破损进水模型和主压载水舱高压气吹除系统模型，对潜艇舱室破损进水时应急上浮的影响因素和操纵与控制方法进行了大量深入的仿真研究，获得了控制潜艇安全应急上浮的操纵方法，对实际操艇有一定的指导意义，为潜艇应急上浮自动控制系统的设计提供了依据。
本文设计了一种新型的滑模模糊控制器，首次成功应用于潜艇应急上浮的自动控制。为了克服舵、主压载水舱的注排水装置及高压气吹除系统等执行机构响应滞后的影响，开发了潜艇应急上浮的灰色预测控制系统。仿真结果表明系统鲁棒性强，控制效果良好。
The submarine is a kind of the most important military forces. Every country's navy makes an effort to develop the submarine. In the recent years, the submarine accidents happened frequently in the world. The safety of a submarine is a more interesting problem. The study on motion laws and control methods of a submarine under casualty condition is a fundamental work to solve the safety problem of a submarine. The purpose of this dissertation is to make the theoretical research and investigation on the safety of a submarine under casualty condition.
At first, the physical model of the pneumatic blowing system of the submarine's ballast tanks is simplified with reason, and then through analyzing the dynamic process of the pneumatic blowing system of the ballast tanks, the mathematical models for flooding of damaged compartments and corresponding emergency blowing of the submarine are derived by means of aerodynamics, hydrodynamics and thermodynamics laws. The software MSC. EASY5 is used to simulate this system comparing with the former mathematical model simulation. The both simulation results are in agreement with practice in the submarine. The full mathematical model was developed for the submarine's emergency ascent. It provided a foundation to investigate on motion laws and control methods of a submarine blowing water ballast.
In this dissertation the motion stability and bifurcation theory and its numerical methods of a nonlinear system were applied to stable state response and motion stability analysis of a submarine during emergency ascent. The stability analysis results were verified by simulations using direct numerical integrations of the fully nonlinear, coupled six degrees-of-freedom equations of motion for the submarine. The control surface deflections, excess buoyancy and speed effects on the stability of the submarine during emergency ascent show that emergency rising motion is not always restricted in the vertical plane even under port/starboard symmetric conditions. Complicated out-of-plane motions may be generated, and the submarine may lose the stability under some critical conditions. The singularity and bifurcation theory was used to explain the mechanism for these phenomena. These laws provide a theoretical basis for maneuvering and controlling submarine during emergency ascent.
The motion state after taking the emergency measures of the damaged submarine is simulated. The significant results were obtained. These results will be of great help to practical maneuver and control of the submarine under flooding emergency condition and design of the automatic control system.
Finally, a sliding mode fuzzy controller was developed for the submarine during emergency ascent. A new sliding mode fuzzy grey predictive controller was also proposed in order to compensate the delay of the actuators such as rudder, drainage and the pneumatic blowing system, etc. The simulation results show that the control approach not only remains robustness of sliding mode control, but also avoids the effects of chattering phenomenon, and possess better performance of the system.
首先，对潜艇压载水舱高压气吹除系统物理模型进行了合理简化，通过分析高压气吹除主压载水舱的动态过程，根据流体力学、空气动力学和热力学等的基本定理定律，首次建立了潜艇主压载水舱高压气吹除系统供气吹除、停止供气和解除气压(或部分气压)操作过程的完整数学模型；另外，利用动力系统建模与仿真软件MSC．EASY5建立了压载水舱高压气吹除过程模型。两者的仿真结果与实艇操纵情况基本吻合。建立了潜艇舱室破损进水时的附加力计算数学模型，与潜艇大攻角运动时的六自由度运动模型、主压载水舱高压气吹除系统模型一起构成了潜艇应急上浮时的完整数学模型，为研究潜艇应急吹除时的运动规律和操纵控制方法提供了条件。
本文首次将非线性系统运动稳定性与分叉理论及其数值分析方法用于潜艇应急上浮运动的稳态响应及稳定性分析，并通过潜艇大攻角六自由度运动方程数值积分的动态仿真对分析结果进行了验证，两者是一致的。通过深入研究航速、升降舵、方向舵和剩余浮力及其作用位置对潜艇应急上浮运动稳定性的影响，表明潜艇应急上浮运动即使在左右舷对称的情况下，并不总是限于垂直面内，可能出现横滚运动，在某种临界条件下，运动可能失稳，出现分叉现象，对这种现象的机理用奇异性与分叉理论进行了分析，为潜艇应急上浮的操纵与控制方法提供了理论依据。
在潜艇六自由度非线性运动基本方程的基础上，结合舱室破损进水模型和主压载水舱高压气吹除系统模型，对潜艇舱室破损进水时应急上浮的影响因素和操纵与控制方法进行了大量深入的仿真研究，获得了控制潜艇安全应急上浮的操纵方法，对实际操艇有一定的指导意义，为潜艇应急上浮自动控制系统的设计提供了依据。
本文设计了一种新型的滑模模糊控制器，首次成功应用于潜艇应急上浮的自动控制。为了克服舵、主压载水舱的注排水装置及高压气吹除系统等执行机构响应滞后的影响，开发了潜艇应急上浮的灰色预测控制系统。仿真结果表明系统鲁棒性强，控制效果良好。
The submarine is a kind of the most important military forces. Every country's navy makes an effort to develop the submarine. In the recent years, the submarine accidents happened frequently in the world. The safety of a submarine is a more interesting problem. The study on motion laws and control methods of a submarine under casualty condition is a fundamental work to solve the safety problem of a submarine. The purpose of this dissertation is to make the theoretical research and investigation on the safety of a submarine under casualty condition.
At first, the physical model of the pneumatic blowing system of the submarine's ballast tanks is simplified with reason, and then through analyzing the dynamic process of the pneumatic blowing system of the ballast tanks, the mathematical models for flooding of damaged compartments and corresponding emergency blowing of the submarine are derived by means of aerodynamics, hydrodynamics and thermodynamics laws. The software MSC. EASY5 is used to simulate this system comparing with the former mathematical model simulation. The both simulation results are in agreement with practice in the submarine. The full mathematical model was developed for the submarine's emergency ascent. It provided a foundation to investigate on motion laws and control methods of a submarine blowing water ballast.
In this dissertation the motion stability and bifurcation theory and its numerical methods of a nonlinear system were applied to stable state response and motion stability analysis of a submarine during emergency ascent. The stability analysis results were verified by simulations using direct numerical integrations of the fully nonlinear, coupled six degrees-of-freedom equations of motion for the submarine. The control surface deflections, excess buoyancy and speed effects on the stability of the submarine during emergency ascent show that emergency rising motion is not always restricted in the vertical plane even under port/starboard symmetric conditions. Complicated out-of-plane motions may be generated, and the submarine may lose the stability under some critical conditions. The singularity and bifurcation theory was used to explain the mechanism for these phenomena. These laws provide a theoretical basis for maneuvering and controlling submarine during emergency ascent.
The motion state after taking the emergency measures of the damaged submarine is simulated. The significant results were obtained. These results will be of great help to practical maneuver and control of the submarine under flooding emergency condition and design of the automatic control system.
Finally, a sliding mode fuzzy controller was developed for the submarine during emergency ascent. A new sliding mode fuzzy grey predictive controller was also proposed in order to compensate the delay of the actuators such as rudder, drainage and the pneumatic blowing system, etc. The simulation results show that the control approach not only remains robustness of sliding mode control, but also avoids the effects of chattering phenomenon, and possess better performance of the system.
引文
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