A Preliminary Study On The Comprehensive Optimization Of A Trimaran Unmanned Boat

As countries pay more and more attention to marine economic rights and interests,the development of marine equipment is becoming more and more important.Surface unmanned vehicle(UAVs)has become a hot spot in research and development due to its advantages of low cost,high operating efficiency and the ability to replace manual labor and avoid casualties.Based on a conventional slender shape three body unmanned craft as the research object,including the rapidity and maneuverability,the wave resistance and stability of four kinds of optimization mathematical model for the comprehensive performance of navigation performance,combination is now a mature intelligent optimization algorithm based on the comprehensive optimization procedure is applicable to the boat,and then use a variety of optimization algorithm and improved strategy is optimized calculation.The optimal calculation results are obtained.After optimization design in order to further study after trimaran unmanned boat sailing boat performance,and to seek more suitable for evaluation of trimaran unmanned boat craft rapidity and maneuverability,especially of seakeeping optimal objective function,thus the performance of the trimaran unmanned boat sailing boat three identification system is studied,and established the corresponding mathematical model of system identification The whole test system is developed and the system identification software is rewritten.Finally,according to the optimization results,the semi-autonomous selfnavigation test boat model was made by using the mother ship reconstruction method and similarity theory.The relevant performance tests were carried out with the model,and the required test data were obtained.Then,the identification calculation analysis and verification of the test results were carried out on the system identification software.The specific research work is as follows:(1)Comprehensive consideration was made from the perspectives of design requirements,use and navigation area,speed,endurance and design displacement,and the design of the trimaran unmanned boat was selected and demonstrated,and the appropriate main hull and side hull type were selected.The layout of the side body is also preliminarily designed,and various parameters such as residual resistance coefficient and static displacement of the boat are fitted by response surface fitting,and the boat type and resistance database are constructed.(2)Based on the trimaran unmanned boat type designed in this thesis,the optimization objective functions of rapidity,maneuvability,seakeeping and stability were established respectively.The appropriate equality and inequality constraints were selected to determine the design variables to be optimized.In order to facilitate calculation,the penalty function and fitness function were established.Finally,the mathematical model of comprehensive performance optimization is constructed by means of power exponent product.(3)On the basis of the research and analysis of genetic algorithm,chaos algorithm,particle swarm optimization algorithm,compound algorithm and two kinds of improvement strategies,combined with the established comprehensive performance optimization mathematical model,adapted and built suitable optimization calculation software;The optimal calculation scheme and the optimal calculation result of various optimization algorithms are compared and analyzed,the optimal optimization algorithm and calculation scheme are determined,and the optimal optimization result is obtained.(4)The mathematical model of the system identification of the speed,maneuverability and seakeeping of the trimaran unmanned boat is established,and the identification parameters and the data obtained from the test are determined.The propulsion and control system of the test boat model was designed and assembled according to the optimized calculation results,and the test system and system identification software were developed according to the required test data.(5)Quickness to test boat modules,maneuverability and seakeeping test,the test data needed,then identification is studied by using system identification software calculation,got the parameters identification of numerical,and verified the analysis,the rationality of the mathematical model is proved that the system identification,also verify the effectiveness of the developed experimental system and the reliability of the system software.