摘要
復(fù)合型船近些年來逐漸得到世界各國的重視與發(fā)展，多體船技術(shù)現(xiàn)已廣泛應(yīng)用于船舶工程領(lǐng)域，特別是在民用船舶方面的應(yīng)用。無人艇作為無人化戰(zhàn)場中的一個(gè)重要作業(yè)單元，與無人機(jī)、無人潛器、陸戰(zhàn)機(jī)器人等并稱無人化戰(zhàn)場的“ 四大金剛”， 是依靠遙控或自主方式在水面航行的無人化、智能化作業(yè)平臺(tái)，大量節(jié)省了人力物力。但對(duì)于三體無人艇的研究仍處于起步階段，不論是國內(nèi)還是國外，很少有運(yùn)用于工程實(shí)踐的成熟產(chǎn)品。
本文介紹了高性能船舶、船舶試驗(yàn)和系統(tǒng)辨識(shí)的原理，國內(nèi)外技術(shù)現(xiàn)狀、背景及其相關(guān)進(jìn)展情況。通過前期大量的自控自航船模試驗(yàn)，最終選擇復(fù)合三體沖翼艇為無人艇的艇型并完成了三體船船模模型的設(shè)計(jì)、制作及模型推進(jìn)系統(tǒng)、操縱系統(tǒng)、控制系統(tǒng)和數(shù)據(jù)采集系統(tǒng)的調(diào)試。
設(shè)計(jì)了復(fù)合三體沖翼無人艇船模性能試驗(yàn)方案，包括操縱性試驗(yàn)、快速性試驗(yàn)和耐波性試驗(yàn)。用Visual basic 軟件編寫了基于混沌算法的快速性系統(tǒng)辨識(shí)程序；在螺旋槳敞水性征資料缺失的情況下，用獲得的快速性實(shí)驗(yàn)數(shù)據(jù)通過系統(tǒng)辨識(shí)程序可得到相關(guān)的10KQ-J曲線。通過主機(jī)功率 的預(yù)報(bào)，可看出該系統(tǒng)辨識(shí)方法可行?；诨煦缢惴?，對(duì)搖蕩自由衰減試驗(yàn)數(shù)據(jù)進(jìn)行系統(tǒng)辨識(shí)后所得的衰減曲線與實(shí)驗(yàn)所得的數(shù)據(jù)曲線周期和衰減情況基本一致。基于遺傳算法對(duì)船模操縱性性能進(jìn)行辨識(shí)，所得到的辨識(shí)結(jié)果與原始數(shù)據(jù)基本吻合。
基于自控自航船模試驗(yàn)平臺(tái)為復(fù)合三體沖翼無人艇性能試驗(yàn)研究提供了方法，從而為今后高性能船舶的試驗(yàn)研究奠定了基礎(chǔ)。

關(guān)鍵詞：無人艇；復(fù)合三體沖翼艇；船模試驗(yàn)；性能；系統(tǒng)辨識(shí)

Abstract
Hybrid hulls are gradually the world attention and development in recent years, multi-hull ships are now widely used in marine engineering technology areas, especially the application in the civilian ship. Unmanned surface vessel plays an important unit in the unmanned battle field. It is one of "Four Diamond" with unmanned aerial vehicles, unmanned submersible and marine robotics. Unmanned surface vessel is rely on remote control or autonomous unmanned surface navigation, intelligent platform, saving a lot of manpower and resources. However, trimaran unmanned vessel is till in its infancy, whether domestic or foreign, there are few mature products used in engineering practice.
This article describes the high-performance ships, ship testing and system identification theory, domestic and international technical status, background and related developments. Through large number of pre-ship model testing, we select the composite trimaran red wing unmanned vessel for as the ship type and completed a trimaran model s design, production and model propulsion systems, control systems, control systems and data acquisition system debugging.
Designing sailing ship model performance test program, including maneuver test, rapid test and seakeeping tests.Based on chaotic algorithms Visual basic procedures for rapid system identification, propeller open water without knowing the symptoms of the circumstances, we obtained related to the relationship between 10KQ-J curve by experimental data obtained and system identification data. Prediction of power by the host system identification data can be seen forecasting would achieve certain accuracy. Based on chaotic algorithm, identified the rolling decay curve compare with experimental value that the period and extent are consistent. Based on genetic algorithm, identified maneuver of ship, and we get that recognition results are consistent with the original data with high precision.
Preliminary validation of the self-control ship model test approach to explore the properties of composite trimaran- hydrofoil- wing vessel. It lays the foundation for high performance vessel experiment.
Keywords: trimaran; trimaran-hydrofoil-wing vessel; ship model test; performance; system identification

目 錄
摘要…………………………………………………………………………………………………....Ⅰ
Abstract………………………………………………………………………………Ⅱ
第1章 緒論 1
1.1 課題研究的背景及意義 1
1.2 系統(tǒng)辯識(shí) 5
1.2.1 傳統(tǒng)的系統(tǒng)辯識(shí)方法 5
1.2.2 新型的辯識(shí)方法 6
1.3 船舶性能實(shí)驗(yàn)技術(shù) 8
1.3.1 船舶快速性 8
1.3.2 船舶耐波性 8
1.3.3 船舶操縱性 9
1.4 國內(nèi)外研究技術(shù)現(xiàn)狀與發(fā)展趨勢(shì) 9
1.4.1 三體船技術(shù) 9
1.4.2 水翼艇技術(shù) 10
1.4.3 沖翼艇技術(shù) 10
1.5 本章小結(jié) 11
第2章 復(fù)合三體船模型設(shè)計(jì) 12
2.1 選型 12
2.1.1 選型背景分析 12
2.1.2 船模船型方案選取 12
2.2 模型設(shè)計(jì) 14
2.2.1 推進(jìn)系統(tǒng)設(shè)計(jì) 14
2.2.2 操縱系統(tǒng)設(shè)計(jì) 19
2.3 船模重量估算及重心計(jì)算 22
2.4 浮力核算 23
2.4.1 潛體產(chǎn)生浮力 24
2.4.2 主體設(shè)計(jì)水線以下部分產(chǎn)生的浮力 24
2.4.3 側(cè)體設(shè)計(jì)水線以下部分產(chǎn)生的浮力 26
2.5 船模阻力 29
2.6 水翼設(shè)計(jì) 32
2.7 本章小結(jié)………………………………………………………………………. …32
第3章 復(fù)合三體船模型制作 33
3.1 引言 33
3.2 骨架加工 33
3.3 模型制作 36
3.4 設(shè)備安裝和系統(tǒng)調(diào)試 39
3.4.1 推進(jìn)系統(tǒng)調(diào)試 39
3.4.2 控制系統(tǒng)調(diào)試 41
3.4.3 操縱系統(tǒng)調(diào)試 43
3.4.4 數(shù)據(jù)采集系統(tǒng)調(diào)試 43
3.5 本章小結(jié) 44
第4章 復(fù)合三體船模型水動(dòng)力性能試驗(yàn) 45
4.1 水密性試驗(yàn) 45
4.2 船?？焖傩栽囼?yàn) 45
4.2.1 快速性試驗(yàn)方案 46
4.2.2 試驗(yàn)步驟 46
4.3 船模操縱性試驗(yàn) 47
4.3.1 操縱性試驗(yàn)方案 47
4.3.2 試驗(yàn)步驟 47
4.4 船..