| The application prospect of Unmanned Surface Vehicle(USV)is more and more widespread in military and civil fields,and it causes great concern from scholars both at home and abroad.Consequently,a lot of researches have been done on the design and performance of USV.At the same time,the application of green ship technology has become an important technical means of reform and innovation of shipbuilding industry.Therefore,it was very important to deeply study rapidity,maneuverability,seakeeping and green energy system of USV for designing the hull forms and exploring the hydrodynamic performance of the USV.The comprehensive optimization design of USV is an important part in USV design and discovery.At present,many domestic and foreign universities and research institutions conduct in-depth study on ship optimization problems.In this paper,a small waterplane area twin-hull ship(SWATH)with a hydrofoil in its bow has been designed,at the same time,taking the comprehensive performance of SWATH including its rapidity,maneuverability,seakeeping and green energy system into consideration,a comprehensive optimization mathematical model of SWATH-USV has been established.By combining mathematical model with intelligent optimization algorithm,and then comprehensive optimization software was compiled.After optimization calculation,according to the optimized principal dimension,the ship model has been finished.Then the model tests are carried out including maneuverability and seakeeping,a system identification software is developed based on optimization method.According to the test data,the identification software can predict the future navigation parameters of the catamaran.The main research and results are summarized as follows:(1)Various optimization algorithms with their theory have been studied in detail including genetic algorithm,chaos algorithm,particle swarm optimization and complex algorithm.And then combined with hierarchical and parallel algorithms to improve the performance.(2)The optimization mathematical model has been established,including rapidity,maneuverability,seakeeping and green energy,the comprehensive optimization objective function and penalty function have been designed combined with constraint condition,then the mathematical model of comprehensive performance optimization is completed.(3)A comprehensive optimization programhas been written by C# which containsfour optimization algorithms,genetic algorithm,chaos algorithm,particle swarm optimization and complex algorithm.At the same time,the optimization algorithms combined with hierarchical and parallel strategy to improve the accuracy.This paper reserch the pros and cons of different algorithms and strategies,a large number of computational results show that the improved genetic algorithm is the best according to the mathematical model,the other three are PSO,CMP and CA,and the hierarchical and parallel strategies can effectively improve the search performance.In this paper,the best is hierarchical genetic algorithm,finally,the optimal principal dimensions and related parameters of two different tonnage SWATH have been obtained,then a recommended plan is presented.(4)The SWATH ship model has been designed and completed according to the optimization of the main dimensions and parameters and parent ship.First of all,the main hull and the hydrofoil has been finished,then the propulsion and manipulating system has been made and constructed,finally,our hull has been equipped with a PAC(Programmable Automation Controller)as the core of the intelligent control system.(5)Promoting the research on model test which contain the rotation,rolling and pitching test,then a system identification software has been written based on identification theory and optimization algorithms.The identification software is used to identify and analyze the results of three experiments to obtain the accurate mathematical models,it can Predict the future navigation parameters and posture.The relative error between the predicted value and the experimental value is analyzed.It is shown that the predicted values are in good agreement with the experimental values. |
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