CN114408126A - Three-body rescue unmanned boat with flexible T-shaped wings and design method thereof - Google Patents

Three-body rescue unmanned boat with flexible T-shaped wings and design method thereof Download PDF

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CN114408126A
CN114408126A CN202210036606.5A CN202210036606A CN114408126A CN 114408126 A CN114408126 A CN 114408126A CN 202210036606 A CN202210036606 A CN 202210036606A CN 114408126 A CN114408126 A CN 114408126A
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flexible
wing
trimaran
rescue
hull
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CN114408126B (en
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张金程
杨松林
周庆恒
柯维顺
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/02—Lifeboats, life-rafts or the like, specially adapted for life-saving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
    • B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
    • B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
    • B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
    • B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
    • B63B1/285—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils changing the angle of attack or the lift of the foil
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
    • B63B1/40—Other means for varying the inherent hydrodynamic characteristics of hulls by diminishing wave resistance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/22—Devices for holding or launching life-buoys, inflatable life-rafts, or other floatable life-saving equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
    • B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
    • B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
    • B63B2001/126—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls comprising more than three hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
    • B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
    • B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
    • B63B2001/281—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils movable about an axis substantially parallel to the flow direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
    • B63B2039/063—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water the foils comprising flexible portions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
    • B63C2009/265—Nets or sheet-like devices, e.g. for lifting persons on board or for facilitating climbing on board
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T70/00—Maritime or waterways transport
    • Y02T70/10—Measures concerning design or construction of watercraft hulls

Abstract

The invention discloses a three-body rescue unmanned boat with flexible T-shaped wings, which comprises a three-body boat body, a flexible T-shaped wing anti-rolling device, a comprehensive integrated rescue system and a control system. The trimaran hull comprises a small waterplane main hull and a conventional slender side hull, and flexible T-shaped wing anti-rolling devices are arranged outside the upper parts of the head part and the tail part of the main hull; a comprehensive integrated rescue system is arranged on a deck above the trimaran body, so that people falling into water can be rescued in a remote and comprehensive manner; the control system comprises a water jet propeller, an energy cabin and a controller, the water jet propeller, the energy cabin and the controller are respectively arranged at the tail end of the main boat body and in a tail deck cabin above the trimaran body, and all the devices are connected with the controller to realize remote control. And provides a design method thereof. The invention not only improves the resistance performance of the three-body boat, but also provides additional thrust while increasing the pitching and rolling reduction effects, improves the rapidity and the seaworthiness of the three-body boat, and can efficiently and safely finish the marine rescue operation by utilizing the carrier of the three-body unmanned boat.

Description

Three-body rescue unmanned boat with flexible T-shaped wings and design method thereof
Technical Field
The invention relates to a ship, in particular to a three-body rescue unmanned ship with flexible T-shaped wings and a design method thereof.
Background
At present, with the gradual development of human beings on marine resources, the marine transportation industry has been on the rise, and marine accidents are caused continuously, so that the life safety of rescue workers is greatly challenged by various complicated dangerous marine accident sites. The advent of rescue drones offers a good solution for this, with triple-hulled drones being the best choice for rescue boat models, with their large deck area, excellent stability and maneuverability. However, the three-body unmanned boat has obvious defects and shortcomings in pitching, the comfort level and the seaworthiness of the three-body unmanned boat are difficult to reach high requirements, and even secondary injury of rescued people is caused, so that the reduction of the pitching of the three-body unmanned boat during medium-high speed navigation is very important.
In order to effectively reduce pitching, the T-shaped wing has been developed as a ship appendage, which can effectively reduce pitching by adjusting the angle of attack of the flap according to the ship sailing state, and is widely used at present. However, the T-shaped wing as a ship appendage brings certain additional resistance during the ship navigation, especially during the low-speed navigation of the ship, which affects the rapidity of the ship and wastes the energy of the ship.
In addition, the existing rescue unmanned boat is miniaturized, the rescue function is single, most of the existing rescue unmanned boats can only deliver lifesaving equipment to people falling into water, or can drag single people falling into water back to the boat or the shore, and the rescue efficiency is low.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above problems, the invention aims to provide a three-body rescue unmanned boat with flexible T-shaped wings, which reduces resistance, realizes rapidity and improves comprehensive rescue capability of the unmanned boat. And provides a design method thereof.
The technical scheme is as follows: the utility model provides a three-body rescue unmanned ship with flexible T type wing, including the three-body hull, flexible T type wing anti-rolling device, synthesize integrated rescue system, control system, install flexible T type wing anti-rolling device on the outside of the prelude of three-body hull and afterbody respectively, synthesize integrated rescue system and install in the top of three-body hull, control system includes water jet propulsion ware, the energy cabin, the controller, water jet propulsion ware installs in the afterbody of three-body hull, the energy cabin, the controller is integrated to be installed in the top of three-body hull, flexible T type wing anti-rolling device, synthesize integrated rescue system, water jet propulsion ware, the energy cabin is respectively with controller signal connection.
Further, the three-hull comprises a small waterplane main hull body, two conventional slender side hulls and a connecting deck, wherein the small waterplane main hull body comprises a submerged body and two struts, the two struts are installed on the submerged body at intervals along the transverse direction of the submerged body, the connecting deck is installed on the top surfaces of the two struts, the conventional slender side hulls are installed on the two longitudinal opposite sides of the connecting deck respectively, flexible T-shaped wing anti-rolling devices are arranged on the two opposite sides of the two struts respectively, the flexible T-shaped wing anti-rolling devices are installed on the upper portion of the submerged body, the water jet propeller is installed at the tail portion of the submerged body, and the comprehensive integrated rescue system, the energy cabin and the controller are installed on the connecting deck respectively.
Preferably, the total length of the trimaran hull is 20-30 m, the length-width ratio is 3.5-5, the struts are in a slender symmetrical wing shape, the length of each strut is 1/7-1/6 times of the total length of the trimaran hull, the width of each strut is 1/9-1/7 times of the length of each strut, the height of each strut is 1.5-2.5 times of the length of each strut, the first strut is located at the position of a forward 1/4-1/6 keel of the trimaran hull, the second strut is located at the position of a forward 3/4-5/6 keel of the trimaran hull, the conventional slender side hull is a round bilge-shaped slender hull, the length-width ratio is 11-13, and the connecting deck is divided into a head deck and a tail deck.
Furthermore, the flexible T-shaped wing stabilizing device comprises a vertical wing, a horizontal wing, an angle-adjustable flexible flap and a double-output-shaft stepping motor, wherein the angle-adjustable flexible flap is arranged at the tail part of the horizontal wing through the double-output-shaft stepping motor, the whole body formed by the angle-adjustable flexible flap and the double-output-shaft stepping motor is connected with the upper part of the vertical wing, the lower part of the vertical wing is connected with the trimaran, and the double-output-shaft stepping motor is in signal connection with the controller.
Preferably, the vertical wing is an NACA0012 wing type, the chord length is 0.8-1 time of the length of the horizontal chord, the height is 8-12% of the length of the three-body hull, the horizontal wing is an NACA0012 wing type, the span is 90-100% of the width of the three-body hull, the chord length is 1/2-2/3% of the span, and the flexible wing surfaces in the angle-adjustable flexible wing flaps account for 1/4-1/3 of the total area of the angle-adjustable flexible wing flaps.
Further, synthesize integrated rescue system and include long-range automatic fishing device, long-range automatic device of puting in, long-range intercom, electric warm hair-dryer, the camera, unmanned aerial vehicle, long-range automatic fishing device is equipped with two, relative bilateral symmetry at three-body hull rear portion sets up, long-range automatic device of puting in is equipped with one respectively in the relative both sides at three-body hull middle part, long-range intercom is installed on the anterior top surface of three-body hull, electric warm hair-dryer passes through the bolt and installs on long-range automatic fishing device, the camera is installed respectively all around to the front end on three-body hull upper portion and tail end, unmanned aerial vehicle berths at the middle part of three-body hull upper surface, long-range automatic fishing device, long-range automatic device of puting in, the camera, unmanned aerial vehicle respectively with controller signal connection.
Preferably, the remote automatic fishing device comprises a stepping motor, a screw stepping motor, a fishing net frame and a lifesaving net pad, wherein the stepping motor is installed on the three-body boat body, a motor shaft of the stepping motor is connected with a base of the screw stepping motor, the fishing net frame is connected with a screw of the screw stepping motor, the fishing net frame consists of a lifesaving fishing net and a metal frame, the lifesaving net pad is an elastic net pad and is installed on the upper surface of the three-body boat body, and the stepping motor and the screw stepping motor are respectively in signal connection with the controller.
Preferably, the remote automatic throwing device comprises a steering engine and a multi-lock-passage mechanical structure, the steering engine is installed on the trimaran body, the multi-lock-passage mechanical structure is connected with the steering engine through bolts, and the life buoy or the life raft is connected with the multi-lock-passage mechanical structure through ropes.
A design method of the three-body rescue unmanned ship with the flexible T-shaped wings comprises the following steps:
the method comprises the following steps: designing variables:
the length Lh of the first section of the main body of the unmanned surface vehicle, the length Lm of the middle section, the length La of the tail section, the height H of the strut and the length L of the conventional slender side body1Width B1Square coefficient of trimaran body CbDraft T, profile depth D, design navigational speed Vs, propeller diameter Dp, propeller disc surface ratio Aeo, propeller rotational speed N under design navigational speed, floating center longitudinal position LcbCenter of gravity longitudinal position Xg, disc surface ratio AeoPitch ratio PDPHorizontal wing chord length L2Horizontal wing span L3Length of chord L of vertical wing4Wing span L of vertical wing5Flexible flap chord length L6Area of compliant airfoil A1；
Step two: establishing an objective function:
considering that unmanned ship has adopted flexible T hydrofoil, considering the additional thrust that flexible airfoil produced in whole thrust, chooseing navy coefficient as the rapidity objective function to set up the objective function value bigger as better, consequently:
Figure BDA0003466460970000031
in the formula: delta-displacement; vS-designing a navigational speed; rt-total resistance;
for the maneuverability of the unmanned ship, the gyration index K and the stability balance number C are often used as indexes for testing the excellent maneuverability of the trimaran, and the dimensionless K 'and C' are combined in a form of power index product, so that the maneuverability objective function h (x) is obtained2)：
Figure BDA0003466460970000032
In the formula: 0 < gi＜1，g1*g2＝1；
For the rescue partyMainly considering the functionality theta of the stepping motor with the remote automatic fishing device1Functionality of screw stepping motor2Structural strength phi of fishing net frame1Structural strength phi of life-saving net cushion2Functional theta of remote automatic throwing device steering engine3And structural strength phi of multi-lock channel mechanical structure3Functional theta of remote interphone4Functional theta of electric heating blower5Camera functionality θ6And functionality θ of drone7The larger these functional and strength indices are, the better, the construction f3(x) As a functional objective function, and the larger the value is, the performance is optimal, and the expression is:
Figure BDA0003466460970000041
in the formula: 0 < epsiloni＜1，ε1*ε2*ε3*ε4*ε5*ε6*ε7*ε8*ε9*ε10＝1；
In the rolling motion of the unmanned ship, the rolling inertia radius is taken as one of key parameters for judging whether the unmanned ship rolls or not, the rolling inertia radius is taken as a judgment standard of the rolling performance of the unmanned ship and is very suitable, and a ship wave resistance index R provided according to the wave resistance of a large number of ships counted by Bels can be used for judging whether the ship wave resistance is good or not and also can be taken as a standard for selecting a better wave resistance ship type, so that the Bels ship wave resistance index R is taken as a wave resistance target function of a three-body unmanned ship:
h4(x)＝R＝8.422+45.104Cwf+10.078Cws-378.465(T/L)+1.273(C/L)-23.501CVPf-15.875CVPs
in the formula: cwfThe coefficient of the water surface in front of the midship; cwsThe coefficient of the water surface behind the midship; C/L denotes the cutoff ratio; cVPfWatch (A)
The coefficient of the frontal prism of the middle of the trimaran; cVPsRepresenting the posterior coefficient of a midship of the trimaran;
and (3) constructing a total objective function H (x) by combining the three aspects, wherein the expression is as follows:
Figure BDA0003466460970000042
in the formula:
Figure BDA0003466460970000043
the constraints of the method comprise:
reasonable upper and lower limits of each design variable;
the propeller needs to meet the cavitation requirement;
according to the specification of the entry level of ships and the total area requirement of rudders;
according to the stability specification of the ship, the initial stability of the positive buoyancy is higher than 0.3 m;
the calculated water displacement is equal to the designed water displacement;
the effective thrust of the propeller is equal to the total resistance of the boat body;
the torque supplied to the propeller by the main machine is equal to the hydrodynamic torque born by the propeller;
torque balance constraint; the torque supplied to the propeller by the main engine is equal to the hydrodynamic torque borne by the propeller.
Has the advantages that: compared with the prior art, the invention has the advantages that:
1. the invention adopts the trimaran formed by combining the main hull with double columns and small waterplane area and the conventional slender side hull in the aspect of hull type, so that the seakeeping resistance and rough water resistance of the boat are greatly reduced, the propelling efficiency is greatly improved, and the fast performance of the boat is obviously improved.
2. Aiming at the defect that the resistance of a three-body boat is increased when a common T-shaped wing sails, particularly at low speed, the flexible T-shaped wing stabilizing device is adopted, and the flexible T-shaped wing stabilizing device can generate anti-Karman vortex street similar to the swimming of fishes in wave swing, provides additional thrust, further reduces energy consumption and improves cruising ability.
3. The boat type parameter determination of the invention is based on the comprehensive and optimal design and manufacture of a system with multiple performances and main functions, therefore, compared with the prior similar unmanned boat, the boat type not only has the optimal comprehensive performance, but also has the optimal system functions, namely: has the optimal seaworthiness and work efficiency-cost ratio.
4. Aiming at the defects of single rescue function and low rescue efficiency of the rescue unmanned ship, the invention provides the unmanned ship with the comprehensive rescue system of the remote automatic catching device, the remote automatic throwing device, the remote interphone, the electric heating blower, the camera and the small unmanned aerial vehicle, and the unmanned ship can rapidly rescue the large-scale marine accident scene in complex dangerous conditions by the modes of catching through the remote automatic catching device, remotely delivering rescue equipment, remotely talking rescue command and the like, and has the advantages of high rescue efficiency, low cost and the like.
5. The remote automatic catching device designed by the invention has a simple structure, can catch people falling into water into the lifesaving net pad on the boat through remote control, has no influence on the running resistance when the boat body is arranged on the boat in the sailing process, improves the rescue efficiency, saves the labor cost and protects the safety of the rescue personnel.
6. The remote automatic releasing device designed by the invention is simple in structure, can release rescue equipment such as a life buoy, a life raft and the like carried to personnel falling into water through the remote control steering engine, and is low in rescue cost and high in rescue efficiency.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a front view of a trimaran hull;
FIG. 3 is a side view of a trimaran hull;
FIG. 4 is a schematic structural diagram of a flexible T-shaped wing stabilizer;
fig. 5 is a schematic structural diagram of the remote automatic dispensing device;
FIG. 6 is a side view of the remote automatic fishing apparatus;
fig. 7 is a top view of the remote automatic fishing apparatus.
Detailed Description
The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.
A three-body rescue unmanned ship with flexible T-shaped wings is shown in figures 1-7 and comprises a three-body ship body 1, a flexible T-shaped wing anti-rolling device 2, a comprehensive integrated rescue system 3 and an operation and control system 4.
The control system 4 comprises a water jet propeller 4-1, an energy cabin 4-2, a controller 4-3, a flexible T-shaped wing stabilizing device 2, a comprehensive integrated rescue system 3, a water jet propeller 4-1 and the energy cabin 4-2 which are respectively in signal connection with the controller 4-3. The communication and control of the whole unmanned ship are provided by a base station and a land control station on the ship, the operation of each part on the ship is transmitted to a controller 4-3 for reaction through instructions, and the controller 4-3 is an STM32 controller.
The three-hull 1 comprises a small waterplane main hull 1-1, a conventional slender side hull 1-2 and a connecting deck 1-3, the total length of the three-hull is 20-25 m, the length-width ratio is 3.5-5.5, the designed speed is 8-30 km, and the displacement is 100-150 t. The small waterplane main hull 1-1 comprises a submerged body and two struts, wherein the two struts are arranged on the submerged body at intervals along the transverse direction of the submerged body, the submerged body is a revolving body, the head part of the submerged body is semi-ellipsoid or approximately semi-ellipsoid, the cross section of the middle part of the submerged body is circular, elliptical or approximately elliptical, or approximately half of the upper half of the submerged body is approximately elliptical and half of the lower half of the submerged body is approximately circular, the tail part of the submerged body is a revolving cone contracting towards the tail, the length-width ratio of the submerged body is 8-12, the struts are NACA series wings of slender symmetrical wing shapes, the specific size can be selected according to the requirement of structural strength, the heights of the struts are 3-5 times of the height of the submerged body, and a double-strut structural form is adopted, so that compared with a conventional single-strut small waterplane, the influence of wave resistance can be effectively reduced, and the resistance is reduced.
The connecting deck 1-3 is installed on the top surfaces of the two pillars, the two opposite longitudinal sides of the connecting deck 1-3 are respectively provided with a conventional long and thin side body 1-2, the conventional long and thin side body 1-2 adopts a round bilge type long boat body, the length-width ratio reaches 11-13, the top and the tail of the conventional long and thin side body are correspondingly flush with the top and the tail of the small waterplane main boat body 1-1, and the water displacement accounts for 5% -8% of the three-body boat body 1; the connecting deck 1-3 is divided into a first deck and a tail deck, the first deck accounts for 40% -50% of the whole connecting deck 1-3, the tail deck accounts for 50% -60% of the whole connecting deck 1-3, the whole connecting deck 1-3 is designed into a streamline type, the influence of air resistance is reduced, the connecting part of the conventional slender side body 1-2 and the connecting deck 1-3 is an elastic deck, so that the conventional slender side body 1-2 can adjust the proper height along with the change of the draft of the main boat body 1-1 of the small waterline plane, and the phenomenon that the soakage and the instability are caused is avoided.
The flexible T-shaped wing anti-rolling devices 2 are respectively arranged on the opposite sides of the two pillars, the flexible T-shaped wing anti-rolling devices 2 are mounted on the upper portion of the submerged body, each flexible T-shaped wing anti-rolling device 2 comprises a vertical wing 2-1, a horizontal wing 2-2, a flexible flap 2-3 with an adjustable angle and a double-output-shaft stepping motor 2-4, the flexible flap 2-3 with the adjustable angle is mounted on the tail portion of the horizontal wing 2-2 through the double-output-shaft stepping motor 2-4, the whole formed by the three is connected with the upper portion of the vertical wing 2-1, the lower portion of the vertical wing 2-1 is connected with the three-body boat body 1, and the double-output-shaft stepping motors 2-4 are in signal connection with the controller 4-3.
The vertical wing 2-1 is an NACA0012 wing type, the chord length is 0.8-1 time of that of the horizontal wing 2-2, the height is 8-12% of the boat length of the trimaran hull 1, the horizontal wing 2-2 is an NACA0012 wing type, the wingspan is 90-100% of the boat width of the trimaran hull 1, the chord length is 1/2-2/3% of the wingspan, and the flexible wing surfaces in the angle-adjustable flexible flaps 2-3 account for 1/4-1/3 of the total area of the flexible wing surfaces.
In order to better play a role in stabilizing, a flexible T-shaped wing stabilizing device 2 is arranged above a small waterline main hull 1-1 submerged body from a foremost end 1/10-1/9 coxswain and from a tail end 1/4-1/3, wherein an angle-adjustable flexible flap 2-3 is connected with a double-output-shaft stepping motor 2-4 through a coupler, and is provided with electric power and control by an energy cabin 4-2 and a controller 4-3, the controller 4-3 controls the double-output-shaft stepping motor 2-4 to rotate according to the fed-back real-time state of the ship motion, the double-output-shaft stepping motor 2-4 drives the coupler to further drive the angle-adjustable flexible flap 2-3 to rotate to a corresponding attack angle, so as to play a role in reducing pitching, and simultaneously due to the characteristic of flexibility of the flexible flap, the flexible airfoil oscillates back and forth in the waves, and is subjected to kinematic analysis under ideal conditions as follows:
the length of the flexible wing surface is L, the bending curve of the flexible wing surface at any time in the swing process is a curve tangent to the original static state position, the curve is an arc with the radius r, the central angle c of the arc changes with time, but r x c is always true. The swing angle d is c/2.
Assuming that the bending time is the same as the backswing time, the variation rule of r of the flexible airfoil in one period can be represented by the following formula:
Figure BDA0003466460970000071
wherein:
Figure BDA0003466460970000072
is a constant that determines the maximum bending angle that the flexible airfoil can achieve, and T is the time of one cycle. Then at some time t, the position of any mass point on the flexible airfoil at that time is:
z(y,t)＝f(y)sinwt
wherein y is the abscissa value of each mass point, w is the angular frequency of the motion of the mass point, y is more than 0 and less than or equal to gsind, and g represents the chord length of the flexible flap.
Because the thickness of the airfoil is very small, it can be analyzed using the elongated body theory, assuming that the flexible airfoil is oscillating while traveling with velocity U in the negative direction of the y-axis, the lateral velocity v (y, t) at any position on the airfoil is its material derivative to the coordinate equation, i.e.:
Figure BDA0003466460970000073
the instantaneous momentum that the water of virtual mass m (y) can generate is:
Figure BDA0003466460970000074
according to the acting force and the reacting force, the unit wing surface receives the instantaneous lateral force as follows:
Figure BDA0003466460970000081
the instantaneous thrust generated by the entire airfoil is then:
Figure BDA0003466460970000082
if the swing amplitude of the flexible wing surface is not changed and the swing period is 0.4s, through calculation and verification, the flexible wing surface swings to a certain degree along with waves, and further thrust is generated. In addition, the thrust generated by the wing surface is gradually increased in the upward swinging stage, so that the flexible T-shaped wing stabilizer can provide additional thrust compared with the conventional T-shaped wing, and the effects of improving the rapidity of the ship, saving energy and increasing the endurance are achieved.
The water-jet propeller 4-1 is arranged at the tail part of the submerged body, and the comprehensive integrated rescue system 3, the energy cabin 4-2 and the controller 4-3 are respectively arranged on the connecting deck 1-3.
The comprehensive integrated rescue system 3 comprises a remote automatic catching device 3-1, a remote automatic throwing device 3-2, a remote interphone 3-3, an electric heating blower 3-4, a camera 3-5 and a small unmanned aerial vehicle 3-6, wherein the small unmanned aerial vehicle 3-6 is provided with a built-in power supply and a wifi module, and the rest of the components are connected with a controller 4-3 and an energy cabin 4-2 through extension lines. The two remote automatic fishing devices 3-1 are symmetrically arranged on two opposite sides of the rear part of the trimaran body 1, each remote automatic fishing device 3-1 comprises a stepping motor 3-7, a screw stepping motor 3-8, a fishing net frame 3-9 and a lifesaving net pad 3-10, the stepping motors 3-7 are arranged on two sides of a tail deck of the connecting deck 1-3 through motor supports and bolts, a motor shaft of the fishing net is connected with a base of a screw stepping motor 3-8, the screw stepping motor 3-8 is connected with a fishing net frame 3-9 in a welding mode through a connecting piece matched with a screw thread of the screw stepping motor, the fishing net frame 3-9 is composed of a lifesaving fishing net and a metal frame, the whole metal frame is cylindrical, the periphery of the metal frame is fully distributed with an elastic lifesaving fishing net, and a person inlet is reserved at the lower portion of the front of the metal frame. The lifesaving net cushions 3-10 are elastic net cushions and are arranged on the upper surface of the trimaran body 1, and the stepping motors 3-7 and the screw stepping motors 3-8 are respectively in signal connection with the controllers 4-3.
The lifesaving net cushions 3-10 are elastic net cushions which are arranged at the middle positions of the connecting decks 1-3 and the tail decks, when people on land find people falling into water through the cameras 3-5, the unmanned boat is controlled to stop at a proper place, the controller 4-3 remotely controls the screw stepping motor 3-8 to rotate reversely to drive the fishing net frame 3-9 to descend to a certain position under water, after a person falling into the water enters the fishing net frame, the forward rotation of the screw rod stepping motor 3-8 is controlled to drive the fishing net frame 3-9 to rise by a certain height, the stepping motor 3-7 is remotely controlled to rotate by the controller 4-3, and further drives the screw stepping motor 3-8 and the fishing net frame 3-9 to rotate above the lifesaving net cushion 3-10, and finally, the person falling into the water is finally placed in the lifesaving net cushion 3-10.
The remote automatic launching device 3-2 is respectively arranged on two opposite sides of the middle part of the trimaran body 1, the remote automatic launching device 3-2 comprises a steering engine 3-11 and a multi-locked-channel mechanical structure 3-12, the steering engine 3-11 is installed on a bulkhead on two sides of the tail part of a first deck of a connecting deck 1-3, the multi-locked-channel mechanical structure 3-12 is connected with the steering engine 3-11 through bolts, a life buoy or a life raft is connected with the multi-locked-channel mechanical structure 3-12 through a rope, a plurality of life buoys and life rafts hung on the board side of the trimaran body are connected with the multi-locked-channel mechanical structure 3-12 through the rope, and the rotation of rudder levers of the steering engine 3-11 is remotely controlled through the controller 4-3, so that the hung life buoys or life rafts are released.
The remote interphone 3-3 is fixed at the head end of the connecting deck 1-3, so that rescue workers can remotely placate the emotion of the on-site wrestling workers and carry out necessary self-rescue. The electric heating blower 3-3 is fixed on the inner side of the remote automatic fishing device 3-1 through bolts, and can maintain the body temperature for people falling into water to wait for rescue; the cameras 3-3 comprise 5 cameras which are respectively fixed at the front end of the first deck and the periphery of the tail deck of the connecting decks 1-3, and provide the best rescue visual angle for onshore rescuers. The small unmanned aerial vehicle 3-5 is anchored in the middle of the connecting deck 1-3 and is connected with a base station signal on the boat, and a camera of the small unmanned aerial vehicle can be used for rapidly finding the position of a person falling into the water and knowing the scene environment of a marine accident for rescue workers, so that help is provided for better developing subsequent rescue.
The water-jet propeller 4-1 is installed on a boat bottom plate at the tail end of a main boat body of the three-body boat body 1 through bolts by adopting a single pump device, is connected with the energy cabin 4-2 and the controller 4-3 through lines, and remotely controls a steering nozzle, a reversing gear, a water-jet pump and the like of the water-jet propeller (4-1) through the controller 4-3 to realize steering, forwarding and reversing of the unmanned boat.
When the unmanned ship works, firstly, the energy cabin 4-2 supplies power to all equipment for operation, the controller 4-3 outputs a control instruction, and the unmanned ship can sail autonomously by controlling the water jet propeller 4-1. When the sea condition is severe and the wave is large, the controller 4-3 controls the double-output-shaft stepping motor 2-4 to rotate according to the calculation result of the navigation state, so that the flexible flap 2-3 with the adjustable angle is driven to reach the optimal anti-rolling attack angle, the flexible wing surface at the tail part of the flexible flap 2-3 with the adjustable angle swings back and forth along with the wave while the pitching influence is reduced, certain additional thrust can be generated in each period of swinging, and the rapidity of the unmanned ship is improved while the additional resistance influence is reduced.
In order to efficiently finish the marine rescue operation, the unmanned ship is designed into a comprehensive integrated rescue system, when the unmanned ship runs to a marine accident site at a high speed, the surrounding sea area is monitored through a carried camera 3-5, a small unmanned aerial vehicle 3-6 is controlled to lift off to provide a wider detection visual angle, when the position of a person falling into the water is found, the unmanned ship runs to the position close to the person falling into the water, the person falling into the water is pacified through a controller 4-3 and a remote interphone 3-3, the person falling into the water is guided to effectively save self, meanwhile, a steering engine 3-11 is controlled to rotate a steering column, rescue equipment such as a life raft or a life buoy and the like hung on a multi-lock-channel mechanical structure 3-12 is released, and the person falling into the water can be rescued as soon as possible.
The unmanned boat runs to the position near the person falling into the water through the camera 3-5, the screw stepping motor 3-8 is controlled by the controller 4-3 to rotate forwards, the connecting piece matched with the screw thread of the unmanned boat is driven to descend to a fixed position with the fishing net frame 3-9 connected with the connecting piece in a welding way, after the person falling into the water enters the fishing net frame 3-9 from the inlet below the right front part of the fishing net frame 3-9, the screw stepping motor 3-8 is controlled by the controller 4-3 to rotate backwards, the connecting piece matched with the screw thread of the unmanned boat is driven to ascend to a fixed position with the fishing net frame 3-9 connected with the connecting piece in a welding way, the stepping motor 3-7 is controlled by the controller 4-3 to rotate, and then the screw stepping motor 3-8 and the fishing net frame 3-9 are driven to rotate to the position above the lifesaving net pad 3-10, finally, the person falling into the water is finally placed in the lifesaving net pad 3-10, after the person falling into the water reaches the lifesaving net pad 3-10, the controller 4-3 controls the electric heating blower 3-3 to provide heat for the person falling into the water to keep the body temperature, and the stepping motor 3-7 and the screw stepping motor 3-8 are controlled to rotate oppositely, so that the next rescue operation is continued, and efficient, remote and multiple rescue operations are effectively realized.
In order to better achieve the aim, the design method of the three-body rescue unmanned boat with the flexible T-shaped wings comprises the following steps:
the method comprises the following steps: designing variables: the length Lh of the first section of the main boat body with small waterplane area, the length Lm of the middle section, the length La of the tail section, the height H of the strut and the length L of the conventional slender side body1Width B1Square coefficient of trimaran body CbDraft T, profile depth D, design navigational speed Vs, propeller diameter Dp, propeller disc surface ratio Aeo, propeller rotational speed N under design navigational speed, floating center longitudinal position LcbCenter of gravity longitudinal position Xg, disc surface ratio AeoPitch ratio PDPHorizontal wing chord length L2Horizontal wing span L3Length of chord L of vertical wing4Wing span L of vertical wing5Flexible flap chord length L6Area of compliant airfoil A1。
Step two: determining an objective function:
the rapidity of the ship refers to the discussion of the power of a main engine consumed during sailing and the maximum sailing speed which can be reached by the ship under the combined action of thrust and resistance, the three-body unmanned ship adopts the flexible T hydrofoil, the flexible wing surface also plays a role in the sailing process, the additional thrust generated by the flexible wing surface is considered in the whole thrust, a navy coefficient is selected as a rapidity objective function, and the larger the objective function value is, the better the three-body unmanned ship is:
Figure BDA0003466460970000101
in the formula: delta-displacement; vS-designing a navigational speed; rt-total resistance.
For the maneuverability of the trimaran, the gyration index K and the stability balance number C are often used as indexes for testing the excellent maneuverability of the trimaran, and the dimensionless K 'and C' are combined in the form of power index product, so that the maneuverability objective function h (x) is obtained2)：
Figure BDA0003466460970000111
In the formula: 0 < gi＜1，g1*g2＝1。
For rescue, the functionality theta of the stepping motor with the remote automatic catching device is mainly considered1Functionality of screw stepping motor2Structural strength phi of fishing net frame1Structural strength phi of life-saving net cushion2Functional theta of remote automatic throwing device steering engine3And structural strength phi of multi-lock channel mechanical structure3Functional theta of remote interphone4Functional theta of electric heating blower5Camera functionality θ6And functionality θ of drone7The larger these functional and strength indices are, the better, the construction f3(x) As a functional objective function, and the larger the value is, the performance is optimal, and the expression is:
Figure BDA0003466460970000112
in the formula: 0 < epsiloni＜1，ε1*ε2*ε3*ε4*ε5*ε6*ε7*ε8*ε9*ε10＝1。
In the rolling motion of the unmanned ship, the rolling inertia radius is taken as one of key parameters for judging whether the unmanned ship rolls or not, the rolling inertia radius is taken as a judgment standard of the rolling performance of the unmanned ship and is very suitable, and a ship wave resistance index R provided according to the wave resistance of a large number of ships counted by Bels can be used for judging whether the ship wave resistance is good or not and also can be taken as a standard for selecting a better wave resistance ship type, so that the Bels ship wave resistance index R is taken as a wave resistance target function of a three-body unmanned ship:
h4(x)＝R＝8.422+45.104Cwf+10.078Cws-378.465(T/L)+1.273(C/L)-23.501CVPf-15.875CVPs
in the formula: cwfThe coefficient of the water surface in front of the midship; cwsThe coefficient of the water surface behind the midship; C/L denotes the cutoff ratio; cVPfSubstitute for Chinese traditional medicine
Watch III
Frontal coefficient of mid-body boat midship; cVPsRepresenting the posterior coefficient of midship of the trimaran.
And (3) constructing a total objective function H (x) by combining the three aspects, wherein the expression is as follows:
Figure BDA0003466460970000113
in the formula:
Figure BDA0003466460970000114
constraint conditions
Reasonable upper and lower limits of each design variable;
the propeller needs to meet the cavitation requirement;
according to the specification of the entry level of ships and the total area requirement of rudders;
according to the stability specification of the ship, the initial stability of the positive buoyancy is higher than 0.3 m;
the calculated water displacement is equal to the designed water displacement;
the effective thrust of the propeller is equal to the total resistance of the boat body;
the torque supplied to the propeller by the main machine is equal to the hydrodynamic torque born by the propeller;
torque balance constraint; the torque supplied to the propeller by the main engine is equal to the hydrodynamic torque borne by the propeller.

Claims (9)

1. The utility model provides a three-body rescue unmanned ship with flexible T type wing which characterized in that: the three-body airship comprises a three-body airship body (1), a flexible T-shaped wing stabilizing device (2), a comprehensive integrated rescue system (3) and an operation and control system (4), wherein the flexible T-shaped wing stabilizing device (2) is respectively arranged on the outer sides of the head part and the tail part of the three-body airship body (1), the comprehensive integrated rescue system (3) is arranged at the top of the three-body airship body (1), the operation and control system (4) comprises a water jet propeller (4-1), an energy cabin (4-2) and a controller (4-3), the water jet propeller (4-1) is arranged at the tail part of the three-body airship body (1), the energy cabin (4-2) and the controller (4-3) are integrally arranged at the top of the three-body airship body (1), the flexible T-shaped wing stabilization device (2), the comprehensive integrated rescue system (3), the water jet propeller (4-1) and the energy cabin (4-2) are respectively in signal connection with the controller (4-3).
2. The rescue drones with flexible T-shaped wings as claimed in claim 1, characterized in that: the three-hull (1) comprises a small waterplane main hull (1-1), conventional slender side hulls (1-2) and connecting decks (1-3), the small waterplane main hull (1-1) comprises a submerged body and two struts, the struts are arranged on the submerged body at intervals along the transverse direction of the submerged body, the connecting decks (1-3) are arranged on the top surfaces of the two struts, the conventional slender side hulls (1-2) are respectively arranged on the two longitudinal opposite sides of the connecting decks (1-3), flexible T-shaped wing anti-rolling devices (2) are respectively arranged on the opposite sides of the two struts, the flexible T-shaped wing anti-rolling devices (2) are arranged on the upper portion of the submerged body, water jet propellers (4-1) are arranged on the tail portion of the submerged body, and a comprehensive integrated rescue system (3), the energy cabin (4-2) and the controller (4-3) are respectively arranged on the connecting deck (1-3).
3. The rescue drones with flexible T-shaped wings as claimed in claim 2, characterized in that: the length of the trimaran hull (1) is 20-30 m, the length-width ratio is 3.5-5, the struts are in a slender symmetrical wing shape, the length of each strut is 1/7-1/6 times of the total length of the trimaran hull (1), the width of each strut is 1/9-1/7 times of the length of each strut, the height of each strut is 1.5-2.5 times of the length of each strut, the first strut is located at the position of 1/4-1/6 rearward of the bow section of the trimaran hull (1), the second strut is located at the position of 3/4-5/6 rearward of the bow section of the trimaran hull (1), the conventional slender side hull (1-2) is a round bilge-shaped slender hull, the length-width ratio is 11-13, and the connecting deck (1-3) is divided into a head deck and a tail deck.
4. The rescue drones with flexible T-shaped wings as claimed in claim 1, characterized in that: the flexible T-shaped wing anti-rolling device (2) comprises a vertical wing (2-1), a horizontal wing (2-2), an angle-adjustable flexible flap (2-3) and a double-output shaft stepping motor (2-4), wherein the angle-adjustable flexible flap (2-3) is installed at the tail of the horizontal wing (2-2) through the double-output shaft stepping motor (2-4), the whole body formed by the three is connected with the upper part of the vertical wing (2-1), the lower part of the vertical wing (2-1) is connected with a trimaran hull (1), and the double-output shaft stepping motor (2-4) is in signal connection with a controller (4-3).
5. The rescue drones with flexible T-shaped wings as claimed in claim 4, characterized in that: the vertical wing (2-1) is an NACA0012 wing type, the chord length is 0.8-1 time of that of the horizontal wing (2-2), the height is 8-12% of the boat length of the trimaran hull (1), the horizontal wing (2-2) is an NACA0012 wing type, the wingspan is 90-100% of the boat width of the trimaran hull (1), the chord length is 1/2-2/3 of the wingspan, and the flexible wing surfaces in the angle-adjustable flexible wing flaps (2-3) account for 1/4-1/3 of the total area of the flexible wing surfaces.
6. The rescue drones with flexible T-shaped wings as claimed in claim 1, characterized in that: the comprehensive integrated rescue system (3) comprises a remote automatic catching device (3-1), a remote automatic throwing device (3-2), remote interphones (3-3), electric heating blowers (3-4), cameras (3-5) and small unmanned aerial vehicles (3-6), wherein the number of the remote automatic catching device (3-1) is two, the two opposite sides of the rear part of the trimaran body (1) are symmetrically arranged, the number of the remote automatic throwing device (3-2) is respectively one on the two opposite sides of the middle part of the trimaran body (1), the remote interphones (3-3) are arranged on the top surface of the front part of the trimaran body (1), the electric heating blowers (3-4) are arranged on the remote automatic catching device (3-1) through bolts, the cameras (3-5) are respectively arranged at the front end of the upper part of the trimaran body (1) and around the tail end, the small unmanned aerial vehicle (3-6) is anchored in the middle of the upper surface of the trimaran hull (1), and the remote automatic catching device (3-1), the remote automatic throwing device (3-2), the camera (3-5) and the small unmanned aerial vehicle (3-6) are respectively in signal connection with the controller (4-3).
7. The rescue drones with flexible T-shaped wings as claimed in claim 6, characterized in that: the remote automatic fishing device (3-1) comprises a stepping motor (3-7), a screw stepping motor (3-8), a fishing net frame (3-9) and a lifesaving net pad (3-10), wherein the stepping motor (3-7) is installed on the three-body boat body (1), a motor shaft of the stepping motor is connected with a base of the screw stepping motor (3-8), the fishing net frame (3-9) is connected with a screw of the screw stepping motor (3-8), the fishing net frame (3-9) consists of a lifesaving fishing net and a metal frame, the lifesaving net pad (3-10) is an elastic net pad and is installed on the upper surface of the three-body boat body (1), and the stepping motor (3-7) and the screw stepping motor (3-8) are respectively in signal connection with a controller (4-3).
8. The rescue drones with flexible T-shaped wings as claimed in claim 6, characterized in that: the remote automatic throwing device (3-2) comprises a steering engine (3-11) and a multi-locked-channel mechanical structure (3-12), the steering engine (3-11) is installed on the trimaran body (1), the multi-locked-channel mechanical structure (3-12) is connected with the steering engine (3-11) through bolts, and a life buoy or life raft is connected with the multi-locked-channel mechanical structure (3-12) through a rope.
9. A design method of a three-body rescue unmanned ship with flexible T-shaped wings as claimed in any one of claims 1 to 8, characterized by comprising the following steps:
the method comprises the following steps: designing variables:
the length Lh of the first section of the main body of the unmanned surface vehicle, the length Lm of the middle section, the length La of the tail section, the height H of the strut and the length L of the conventional slender side body1Width B1Square coefficient of trimaran body CbDraft T, profile depth D, design speed Vs, propeller diameter Dp, propeller disk surface ratioAeo, designing the rotating speed N of the propeller at the navigational speed and the longitudinal position L of the floating centercbCenter of gravity longitudinal position Xg, disc surface ratio AeoPitch ratio PDPHorizontal wing chord length L2Horizontal wing span L3Length of chord L of vertical wing4Wing span L of vertical wing5Flexible flap chord length L6Area of compliant airfoil A1；
Step two: establishing an objective function:
considering that unmanned ship has adopted flexible T hydrofoil, considering the additional thrust that flexible airfoil produced in whole thrust, chooseing navy coefficient as the rapidity objective function to set up the objective function value bigger as better, consequently:
Figure FDA0003466460960000031
in the formula: delta-displacement; vS-designing a navigational speed; rt-total resistance;
for the maneuverability of the unmanned ship, the gyration index K and the stability balance number C are often used as indexes for testing the excellent maneuverability of the trimaran, and the dimensionless K 'and C' are combined in a form of power index product, so that the maneuverability objective function h (x) is obtained2)：
Figure FDA0003466460960000032
In the formula: 0 < gi＜1，g1*g2＝1；
For rescue, the functionality theta of the stepping motor with the remote automatic catching device is mainly considered1Functionality of screw stepping motor2Structural strength phi of fishing net frame1Structural strength phi of life-saving net cushion2Functional theta of remote automatic throwing device steering engine3And structural strength phi of multi-lock channel mechanical structure3Functional theta of remote interphone4Functional theta of electric heating blower5Camera functionality θ6And functionality θ of drone7The larger these functional and strength indices are, the better, the construction f3(x) As a functional objective function, and the larger the value is, the performance is optimal, and the expression is:
Figure FDA0003466460960000033
in the formula: 0 < epsiloni＜1，ε1*ε2*ε3*ε4*ε5*ε6*ε7*ε8*ε9*ε10＝1；
In the rolling motion of the unmanned ship, the rolling inertia radius is taken as one of key parameters for judging whether the unmanned ship rolls or not, the rolling inertia radius is taken as a judgment standard of the rolling performance of the unmanned ship and is very suitable, and a ship wave resistance index R provided according to the wave resistance of a large number of ships counted by Bels can be used for judging whether the ship wave resistance is good or not and also can be taken as a standard for selecting a better wave resistance ship type, so that the Bels ship wave resistance index R is taken as a wave resistance target function of a three-body unmanned ship:
h4(x)＝R＝8.422+45.104Cwf+10.078Cws-378.465(T/L)+1.273(C/L)-23.501CVPf-15.875CVPs
in the formula: cwfThe coefficient of the water surface in front of the midship; cwsThe coefficient of the water surface behind the midship; C/L denotes the cutoff ratio; cVPfThe coefficient of the frontal prism of the midship of the surface trimaran; cVPsRepresenting the posterior coefficient of a midship of the trimaran;
and (3) constructing a total objective function H (x) by combining the three aspects, wherein the expression is as follows:
Figure FDA0003466460960000041
in the formula:
Figure FDA0003466460960000042
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