Preliminary Design Analysis Of Trimaran Unmanned Vehicle With Multifunctional Hydrofoil And Small Waterplane

With the continuous development and maturity of key technologies such as intelligent control,navigation communication and power propulsion,intelligent,modular and multi-functional unmanned craft will become a hot development direction.The design of a multi-functional and high-performance USV has great significance in both military and civilian application fields.It is equipped with a variety of equipment and functional systems and can be switched to use according to the task requirements.In the military aspect,it can perform reconnaissance,patrol,anti-submarine and other tasks,and in the civil aspect,it can perform meteorological monitoring,Marine mapping and search and rescue and other tasks.In this paper,Taking USV as the research object,combined with the current research status of relevant technologies at home and abroad,this paper designs a kind of multi-functional USV with better comprehensive performance to meet the requirements of high sea condition navigation missions.Based on different hydrodynamic principles,high performance composite boat is constructed.Its high performance mainly reflects the rapidity and excellent seakeeping performance,followed by loading capacity and economy.The full text research content from the boat type selection demonstration design,boat model design and production,navigation system design,performance and function test and boat type optimization design analysis of five aspects.The details are as follows:(1)Combined with the navigational performance and equipment system layout of the USV.Using fuzzy mathematics comprehensive evaluation method to compare and demonstrate the boat type.After evaluation calculation and analysis,the target boat type was determined to be a composite trimaran boat with small waterplane.The main scale,superstructure and general layout of the target boat were designed,and the 3D model of the boat body was established according to the design parameters.(2)Detailed design and analysis of the main systems of the boat,including propulsion system,hydrofoil and solar power generation system.The hydrofoil NACA airfoil was selected,and the hydrofoil Angle of attack,span length,chord length and installation position were determined by analysis and calculation.Based on the determined parameters of the boat type and the designed equipment system,the boat model is made and the equipment system is debuged and installed.(3)With the main control PAC as the core,the unmanned vehicle navigation system is designed in a modular way.At the same time,the collision avoidance and planning navigation system is designed from the concrete principle model and implementation method.Based on the hardware system of the navigation system,the fuzzy control algorithm is used to formulate the control rules considering course and track deviation.The VS platform was used to complete the motion control program,and the planned navigation test was carried out to verify the feasibility of the planned navigation system.(4)In order to further verify the advanced navigational performance of vessel mentioned above and the feasibility of the functional module system,the performance and functional tests of the pilot boat were carried out.The performance test includes the fast direct flight test,the rotary test and the static water roll attenuation test.DGPS is used to collect the data of direct course and turn test,and to process and analyze the data.At the same time,for the convenience of turning analysis,the influence of the difference to the equivalent rudder is changed.The data collected by MTi-G are processed and analyzed,and the motion law is predicted based on the system identification principle.The hydrological monitoring equipment system is equipped with wireless transmission to realize the interactive transmission of information between the monitoring terminal of the shore aircraft and the equipment on board,so as to realize the real-time monitoring of hydrological information.(5)Recommending better boat type parameters on the basis of boat type design.A mathematical model is established to optimize the comprehensive performance of the trimaran unmanned vehicle with composite small waterplane,such as rapidity,maneuverability and seakeeping.Based on the mathematical model,the optimization program was adapted,and the growth mechanism was adopted to improve the optimization calculation of genetic algorithm,and the optimal parameters of the target UAV with displacement of 7.5t were obtained.