A Preliminary Study On The Comprehensive Optimization Of A Catamaran Unmanned Craft

In recent years,the navy and other defense organizations have become more and more interested in unmanned surface vehicles used in various military missions,and their dependence on unmanned surface vehicles has accelerated the pace of research and development of unmanned surface vehicles.Unmanned surface vehicles can plays a significant role in key missions at present.As unmanned surface vehicles can achieve information advantages,reduce collateral damage,and complete tasks autonomously,accurately and efficiently,unmanned surface vehicles are playing an increasingly prominent role.In this paper,a catamaran unmanned surface vehicle has been taken as the research object.Considering its rapidity,maneuverability and overturning resistance,a mathematical model for the performance optimization of this kind of catamaran unmanned surface vehicle has been established.Combining the mathematical model with intelligent optimization algorithm,a comprehensive optimization program for the catamaran unmanned surface vehicle has been designed and compiled.Based on the optimized principal scale,the model of the catamaran unmanned surface vehicle was designed and manufactured,and the experiments of rapidity,maneuverability and seakeeping were carried out.Combining with the system identification method based on optimization,the software of maneuverability,the roll and pitch identification has been designed to predict the future navigation parameters of the catamaran unmanned surface vehicle.The main research work and achievements are summarized as follows:(1)The intelligent optimization algorithms have been studied,including genetic algorithm,particle swarm optimization,chaos algorithm and complex algorithm.Optimizing strategies has been added to each intelligent algorithm to improve the efficiency of optimization.(2)An optimization mathematical model with multi-objective and multi-constraints has been established,including rapidity,maneuverability and anti-overturning.The fitness function of the catamaran has been constructed by the product of power exponential function and the penalty function,which is the comprehensive optimization mathematical model of the catamaran.(3)Four intelligent optimization algorithms and optimization strategies have been programmed into the optimization software of catamaran unmanned surface vehicle through C# and optimized.The optimization results of the four algorithms and the optimization strategies have been compared.(4)According to the principal dimensions and parameters of the optimized ship,the principal dimensions and parameters of the catamaran model have been obtained by scaling ratio.Combining with the mothership’s profile and slight adjustment,the model’s profile has been obtained.According to the profile,the model has been finally made.Then,the design and installation of the model’s propulsion and control system have been carried out,and the intelligent core control system has been mounted.(5)A series of experimental studies was carried out on the optimized model of the catamaran,which included of rapidity,maneuverability and seakeaping test.The mathematical model of the ship’s motion has been analyzed and discussed.The relative error between the experimental data and the predicted value is analyzed and discussed,and it is testified that the results are in good agreement.At the same time,the feasibility of identification software is verified,and the results obtained can predict the future navigation parameters and motion posture of the unmanned vehicle.