AQWA小型水面浮动平台受扰运动特性及姿态稳定控制技术研究

摘要探测设备工作于海面上，受到诸如风、浪、潮汐等海洋环境的影响，会产生相应的晃动，影响设备的正常工作，需要通过浮动平台隔离扰动，使探测设备能够正常工作。因此，水上浮动平台相关技术的研究具有重要的意义。

首先，介绍浮动平台的整体结构，并针对稳定平台机构组成和工作原理做详细介绍，同时建立平台的仿真三维模型。

其次，将波浪作为平台的主要扰动源，根据随机海浪理论，基于P—M谱的线性叠加法建立随机海浪数学模型。利用MATLAB对模型进行仿真，并对结果频谱分析，验证仿真结果是否正确。

第三，研究平台在随机海浪扰动下的运动模型，利用多体水动力仿真软件AQWA求得平台在特定海况下的运动情况，主要关心横摇、纵摇运动。之后改变平台的结构参数，如浮囊形状尺寸，系统重心位置等，并比较分析各参数下平台的运动情况，筛选出最优的参数组合，为平台之后的样机试验提供借鉴。

最后，设计平台姿态稳定的控制系统，介绍相应的工作原理及相关硬件，对控制电路进行初步设计。

关键词浮动平台随机海浪运动响应控制原理

毕业论文设计说明书外文摘要

Title Reaserch for Disturbed Motion Characteristics and Attitude Stabilization Control Technology of Small floating Platform

Abstract

Detection equipment working on the surface of the sea is affected by the marine environment, such as wind, wave, tide,it will take the sway motions .We need to isolated its disturbance so that the detection equipment can work normally. Therefore, the research on the related technology of floating platform has important significance.

First of all, the overall structure of the floating platform is introduced, and the structure and working principle of the stabilized platform are introduced in detail, at the same time,the simulation model of the platform is built.

Secendly, Make the wave as the main disturbance source of the platform,and the mathematical model of random ocean wave is established based on the P-M spectrum, and the theory of random ocean waves. Using MATLAB to simulate the model,and spectrum analysis is conducted to verify the correctness of the simulation results.

Thirdly,the research for platform motion under random wave disturbance is carried out,using multibody hydrodynamic simulation software AQWA to obtain the movement of platform in a certain sea state,roll,pitch motions are mainly concerned.Then change the structural parameters of the platform,such as the bladder size,the position of the center of gravity,through comparison of these results, we can find the best combination of the parameters, provide the basis for the prototype test of the platform.

Finally, the attitude control system of platform is introduced,as well as the corresponding working principle and related hardware.Then control circuit is preliminary designed.

Keywords Floating Platform, Random ocean wave, Motion response, Control system

1 引言 1

1.1 课题研究背景与意义 1

1.2 浮动平台相关技术概述 2

1.2.1 浮动平台动力学研究进展 2

1.2.2 海浪仿真的建模方法研究进展 2

1.2.3 稳定平台的发展现状 3

1.3 论文主要研究内容 4

2. 平台的整体结构与模型建立 5

2.1 AQWA小型水面浮动平台受扰运动特性及姿态稳定控制技术研究:http://www.751com.cn/jixie/lunwen_42509.html