CN114408126B - Three-body rescue unmanned ship with flexible T-shaped wings and design method thereof - Google Patents

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

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CN114408126B
CN114408126B CN202210036606.5A CN202210036606A CN114408126B CN 114408126 B CN114408126 B CN 114408126B CN 202210036606 A CN202210036606 A CN 202210036606A CN 114408126 B CN114408126 B CN 114408126B
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boat
flexible
wing
rescue
ship
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CN114408126A (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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    • 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 ship with flexible T-shaped wings, which comprises a three-body ship body, a flexible T-shaped wing anti-rolling device, a comprehensive integrated rescue system and a control system. The three-body hull consists of 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 three-body boat body, so that long-distance comprehensive rescue can be performed on people falling into water; the control system comprises a water spraying propeller, an energy cabin and a controller, wherein the water spraying propeller, the energy cabin and the controller are respectively arranged at the tail end of the main boat body and in a deck cabin at the tail part above the three-body boat body, and each device is connected with the controller to realize remote control. And 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 effect, improves the rapidity and seaworthiness of the three-body unmanned 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 ship 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, along with the gradual development of human beings on ocean resources, marine transportation industry steams on the day, and marine accidents are continuously caused, and various complicated dangerous marine disaster sites bring great challenges to life safety of rescue workers. The advent of rescue drones has provided a good solution for this, with triple-hulled drones being the best choice for rescue boats due to their large deck area, excellent stability and manoeuvrability. However, the three-body unmanned boat has obvious defects and defects in pitching, so that the comfort and navigability of the three-body unmanned boat are difficult to meet high requirements, and even secondary injury to a rescued person is caused, and therefore, it is very important to reduce pitching of the three-body unmanned boat during medium-high speed sailing.
In order to effectively reduce pitching, a T-shaped wing is developed as a ship attachment body, which can effectively reduce pitching by adjusting the attack angle of a flap according to the navigation state of the ship, and has been widely used at present. However, the T-shaped wing is used as a ship appendage, and certain additional resistance is brought during the ship navigation, especially during the low-speed navigation of the ship, so that the rapidness of the ship is affected, and the energy of the ship is wasted.
In addition, the existing rescue unmanned boats are miniaturized, the rescue function is single, most rescue unmanned boats can only deliver rescue equipment to people falling into water, or the rescue unmanned boats can pull single people falling into water back to the boat or the shore, and the rescue efficiency is low.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention aims to provide the three-body rescue unmanned ship with the flexible T-shaped wings, which reduces resistance, realizes rapidity and improves comprehensive rescue capability of the unmanned ship. And 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-shake device, synthesize integrated rescue system, control system, install flexible T type wing anti-shake device on the outside of the head of three-body hull and afterbody respectively, synthesize integrated rescue system and install in the top of three-body hull, control system includes the water jet propulsion ware, the energy cabin, a controller, the water jet propulsion ware is installed in the afterbody of three-body hull, the energy cabin, the integrated top of installing in the three-body hull of controller, flexible T type wing anti-shake device, synthesize integrated rescue system, the water jet propulsion ware, the energy cabin respectively with controller signal connection.
Further, the three-body hull comprises a small waterplane main hull, a conventional slender side body and a connecting deck, the small waterplane main hull comprises a submarine body and two struts, the struts are arranged on the submarine body at intervals transversely along the submarine body, the connecting deck is arranged on the top surfaces of the two struts, the conventional slender side body is respectively arranged on the two opposite sides of the connecting deck in the longitudinal direction, flexible T-shaped wing anti-rolling devices are respectively arranged on the opposite sides of the two struts, the flexible T-shaped wing anti-rolling devices are arranged on the upper portion of the submarine body, the water spraying propeller is arranged at the tail portion of the submarine body, and the comprehensive rescue system, the energy cabin and the controller are respectively arranged on the connecting deck.
Optimally, the overall length of the three-body boat body is 20-30 m, the length-width ratio is 3.5-5, the struts are of slender symmetrical wing shapes, the length of each strut is 1/7-1/6 times of the overall length of the three-body boat body, 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 positioned at a position of 1/4-1/6 of the rear of the bow section of the three-body boat body, the second strut is positioned at a position of 3/4-5/6 of the rear of the bow section of the three-body boat body, the conventional slender side body is a round bilge type slender boat body, the length-width ratio of each strut is 11-13, and the connecting deck is divided into a head deck and a tail deck.
Further, the flexible T-shaped wing anti-rolling device comprises a vertical wing, a horizontal wing, a flexible flap with an adjustable angle and a double-output-shaft stepping motor, wherein the flexible flap with the adjustable angle is arranged at the tail part of the horizontal wing through the double-output-shaft stepping motor, the whole body formed by the two is connected with the upper part of the vertical wing, the lower part of the vertical wing is connected with the three-body boat body, and the double-output-shaft stepping motor is in signal connection with the controller.
Optimally, the vertical wing is an NACA0012 wing, the chord length is 0.8-1 times of the chord length of the horizontal wing, the height is 8-12% of the chord length of the three-body boat, the horizontal wing is an NACA0012 wing, the span is 90-100% of the boat width of the three-body boat, the chord length is 1/2-2/3 of the span, and the flexible wing in the angle-adjustable flexible wing flap occupies 1/4-1/3 of the total area.
Further, synthesize integrated rescue system and catch the device including long-range automation, long-range intercom, electric warm hair-dryer, the camera, small-size unmanned aerial vehicle, long-range automation is caught the device and is equipped with two, the relative bilateral symmetry at three body hull rear portions sets up, long-range automation is put in the device and is equipped with one respectively at the relative both sides at three body hull middle parts, long-range intercom is installed on the top surface of three body hull front portions, electric warm hair-dryer passes through the bolt to be installed on long-range automation and catches the device, install the camera around the front end and the tail end on three body hull upper portion respectively, small-size unmanned aerial vehicle berths the middle part at three body hull upper surface, long-range automation is caught the device, long-range automation is put in the device, the camera, small-size unmanned aerial vehicle respectively with controller signal connection.
Optimally, 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 arranged 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 arranged on the upper surface of the three-body boat body, and the stepping motor and the screw stepping motor are respectively connected with a controller through signals.
Optimally, the remote automatic throwing device comprises a steering engine and a multi-lock mechanical structure, wherein the steering engine is arranged on a three-body boat body, the multi-lock mechanical structure is connected with the steering engine through bolts, and a life buoy or a life raft is connected with the multi-lock mechanical structure through ropes.
The design method of the three-body rescue unmanned ship with the flexible T-shaped wings comprises the following steps of:
step one: design variable:
the length of the first section of the main body of the small waterplane plane provided with the unmanned ship is Lh, the length of the middle section is Lm, the length of the tail section is La, the height of the support column is H, and the length of the conventional slender side body is L 1 Width B of 1 Square coefficient C of three-body boat body b Draft T, depth D, design navigational speed Vs, propeller diameter Dp, propeller disk surface ratio Aeo, propeller rotational speed N at design navigational speed, and floating center longitudinal position L cb Center of gravity longitudinal position Xg, disk surface ratio A eo Pitch ratio P DP Horizontal chord length L 2 Span L of horizontal wing 3 Perpendicular chord L 4 Vertical wing span L 5 Flexible flap chord L 6 Flexible airfoil area A 1 ；
Step two: establishing an objective function:
the unmanned ship is considered to adopt a flexible T hydrofoil, the additional thrust generated by the flexible airfoil is considered in the whole thrust, the naval coefficient is selected as a rapidness objective function, and the larger the objective function value is, the better is the setting objective function value, so that the unmanned ship has the following advantages:
Figure BDA0003466460970000031
wherein: delta-displacement; v (V) S -designing the speed; r is R t -total resistance;
for the maneuverability of unmanned boats, the gyration index K and the stability balance number C are often used as indexes for checking the excellent maneuverability of the three-body boat, and the dimensionless K 'and C' are combined in the form of a power exponent product, so that the maneuverability objective function h (x 2 )：
Figure BDA0003466460970000032
/>
Wherein: 0 < g i ＜1，g 1 *g 2 ＝1；
For rescue, mainly consider the functionality theta of a stepper motor with a remote automatic fishing device 1 Functional theta of screw stepping motor 2 Structural strength phi of fishing net frame 1 Structural strength phi with life-saving net cushion 2 Functional theta of remote automatic throwing device steering engine 3 And structural strength phi of multi-lock mechanical structure 3 Functional theta of remote interphone 4 Functional theta of electric warm hair drier 5 Functional theta of camera 6 Functional θ of small unmanned aerial vehicle 7 The larger and better these functional and strength indices are, the more well f is constructed 3 (x) As a functional objective function, and the larger its value is, the best performance, the expression is:
Figure BDA0003466460970000041
wherein: 0 < epsilon i ＜1，ε 1 *ε 2 *ε 3 *ε 4 *ε 5 *ε 6 *ε 7 *ε 8 *ε 9 *ε 10 ＝1；
In unmanned ship rolling motion, the rolling inertia radius is used as one of key parameters for judging the rolling quality of the unmanned ship, the rolling inertia radius is quite suitable as a judging standard for the rolling performance of the unmanned ship, and the ship wave resistance index R proposed by counting a large number of ship wave resistances according to Bels can be used for judging the wave resistance quality of the ship and can also be used as a standard for selecting a ship with better wave resistance, so that the Bels ship wave resistance index R is used as a wave resistance objective function of the three-body unmanned ship:
h 4 (x)＝R＝8.422+45.104C wf +10.078C ws -378.465(T/L)+1.273(C/L)-23.501C VPf -15.875C VPs
wherein: c (C) wf Is the coefficient of the front water plane of the midship; c (C) ws Is the coefficient of the water plane behind the midship; C/L means the cut-off ratio; c (C) VPf Watch (watch)
The front prismatic coefficient of the midship of the three-body boat; c (C) VPs Representing the rear prismatic coefficient of the midship of the three-body boat;
the total objective function H (x) is constructed by combining the three aspects, and the expression is as follows:
Figure BDA0003466460970000042
wherein:
Figure BDA0003466460970000043
constraints of the above method include:
reasonable upper and lower limits of each design variable;
the propeller needs to meet cavitation requirements;
according to the ship entry level specification, the total area requirement of the rudder;
according to the stability specification of the ship, the primary stability of the forward floating is more than 0.3 meter;
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 by the main engine to the propeller is equal to the hydrodynamic torque born by the propeller;
torque balance constraints; the torque supplied by the main engine to the propeller is equal to the hydrodynamic torque born by the propeller.
The beneficial effects are that: compared with the prior art, the invention has the advantages that:
1. the invention adopts the three-body boat formed by combining the main boat body with the double-support small water plane and the conventional slender side body in the aspect of boat shape, so that the wave resistance and the rough resistance of the boat sailing are greatly reduced, the propulsion efficiency is greatly improved, and the quick performance of the boat is obviously improved.
2. Aiming at the defect that the resistance of a three-body boat is increased in the sailing of a boat by a common T-shaped wing, particularly in the sailing at a low speed, the invention adopts the flexible T-shaped wing anti-rolling device, which can generate reverse karman vortex street similar to the sailing of fish in wave rolling, provide additional thrust, further reduce energy consumption and improve the cruising ability.
3. The boat type parameter determination is based on the design and manufacture of comprehensively optimal multi-performance and main functional systems, so that the boat type has optimal comprehensive performance and optimal system functions compared with the existing similar unmanned boats, namely: has optimal navigability and work efficiency.
4. Aiming at the defects of single rescue function and low rescue efficiency of the rescue unmanned ship, the unmanned ship provided by the invention is provided with a remote automatic fishing device, a remote automatic throwing device, a remote interphone, an electric warm blower, a camera and a small unmanned aerial vehicle comprehensive rescue system, and can quickly rescue the scene in a mode of fishing, remotely delivering rescue equipment, remote conversation rescue command and the like through the remote automatic fishing device in a large marine accident scene with complex dangerous conditions, and has the advantages of high rescue efficiency, low cost and the like.
5. The remote automatic fishing device designed by the invention has a simple structure, can catch people falling into water into the on-board rescue net pad through remote control, has no influence on running resistance when being arranged on the boat in the sailing process of the boat body, improves rescue efficiency, saves labor cost and protects the safety of rescue workers.
6. The remote automatic throwing device designed by the invention has a simple structure, can throw the carried rescue equipment such as the life buoy, the life raft and the like into people falling into water through the remote control steering engine, and has low rescue cost and high rescue efficiency.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a front view of a three-body boat body;
FIG. 3 is a side view of a three-body boat body;
FIG. 4 is a schematic structural view of a flexible T-wing stabilizer;
FIG. 5 is a schematic view of the structure of the remote automatic dispensing device;
FIG. 6 is a side view of the remote automatic fishing device;
fig. 7 is a top view of the remote automatic fishing device.
Detailed Description
The invention will be further elucidated with reference to the drawings and to specific embodiments, it being understood that these embodiments are only intended to illustrate the invention and are not intended to limit the scope thereof.
The three-body rescue unmanned ship with the flexible T-shaped wings comprises a three-body ship body 1, a flexible T-shaped wing stabilizer 2, a comprehensive integrated rescue system 3 and a control system 4 as shown in figures 1-7.
The control system 4 comprises a water spraying propeller 4-1, an energy cabin 4-2 and a controller 4-3, wherein the flexible T-shaped wing stabilizer 2, the comprehensive integrated rescue system 3, the water spraying propeller 4-1 and the energy cabin 4-2 are respectively connected with the controller 4-3 through signals. 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 through instructions to react, and the controller 4-3 is an STM32 controller.
The three-body boat body 1 comprises a small waterplane plane main boat body 1-1, a conventional slender side body 1-2 and a connecting deck 1-3, wherein the total length of the three-body boat body is 20-25 m, the length-width ratio is 3.5-5.5, the designed navigational speed is 8-30 km, and the drainage is 100-150 t. The small waterplane main boat body 1-1 comprises a submarine body and struts, wherein two submarine bodies are transversely arranged on the submarine body at intervals, the front part of each submarine body is a semi-ellipsoidal or approximately semi-ellipsoidal, the cross section of the middle part of each submarine body is circular or elliptical or approximately elliptical, or the upper half part of each submarine body is approximately elliptical and the lower half part of each submarine body is approximately circular, the tail part of each submarine body is a rotary cone which contracts towards the tail, the aspect ratio of each submarine body is 8-12, each strut is a NACA series wing of an elongated symmetrical wing type, the specific size of each strut can be selected according to the requirement of structural strength, the height of each strut is 3-5 times of the height of each submarine body, and the double-strut structural form is adopted.
The connecting decks 1-3 are arranged on the top surfaces of the two struts, the conventional slender side bodies 1-2 are respectively arranged on the two opposite longitudinal sides of the connecting decks 1-3, the conventional slender side bodies 1-2 are round bilges type slender boat bodies, the length-width ratio is 11-13, the top and the tail are corresponding and parallel to 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 head deck and a tail deck, the head deck accounts for the front 40% -50% of the whole connecting deck 1-3, the tail deck accounts for the rear 50% -60% of the whole connecting deck 1-3, the whole connecting deck 1-3 is designed into a streamline shape, 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, and 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 waterplane, so that the phenomenon that vacation and instability are possibly caused is avoided.
The opposite sides of the two struts are respectively provided with a flexible T-shaped wing stabilizer 2, the flexible T-shaped wing stabilizer 2 is arranged on the upper part of the submarine body, the flexible T-shaped wing stabilizer 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, the angle-adjustable flexible flap 2-3 is arranged on the tail part 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 the three-body boat body 1, and the double-output-shaft stepping motor 2-4 is in signal connection with the controller 4-3.
The vertical wing 2-1 is an NACA0012 wing section, the chord length is 0.8-1 times of the chord length of the horizontal wing 2-2, the height is 8-12% of the 1-bologna of the three-body boat body, the horizontal wing 2-2 is an NACA0012 wing section, the span is 90-100% of the 1-bologna of the three-body boat body, the chord length is 1/2-2/3 of the span, and the flexible wing surfaces in the angle-adjustable flexible wing flap 2-3 occupy 1/4-1/3 of the total area.
In order to better play a role in stabilizing, the flexible T-shaped wing stabilizing device 2 is arranged on the submarine body 1-1 of the small waterplane plane at the position 1/10 < -1 >/9 > of the forefront end and the position 1/4 < -1 >/3 of the tail end, wherein the flexible wing flaps 2-3 with adjustable angles are connected with the double-output-shaft stepping motor 2-4 through a coupler and are provided with power and control by the energy cabin 4-2 and the 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 flexible wing flaps 2-3 with adjustable angles to rotate to corresponding attack angles, the effect of reducing pitching is achieved, meanwhile, due to the flexible wing surfaces of the flexible wing flaps can swing back and forth in waves, and under ideal conditions, the dynamic analysis is carried out as follows:
the length of the flexible airfoil surface is L, the bending curve of the flexible airfoil surface at any moment in the swinging process is tangent to the original static state position, the curve is an arc with the radius r, the central angle c of the curve changes along with the time, and r multiplied by c=L is always established. Swing angle d=c/2.
Assuming that the bending and backswing time are the same, the change rule of r of the flexible airfoil in one period can be expressed by the following formula:
Figure BDA0003466460970000071
wherein:
Figure BDA0003466460970000072
being a constant, it determines the maximum bend angle that the flexible airfoil can achieve, T being the time of one cycle. Then at a certain time t, the position of any particle on the flexible airfoil at that time is:
z(y,t)＝f(y)sinwt
wherein y is the abscissa value of each particle, w is the angular frequency of the motion of the particle, and 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 small, it can be analyzed using the theory of an elongated body, and assuming that the flexible airfoil is oscillating while advancing in the negative direction of the y-axis at a speed U, the lateral velocity v (y, t) at any location on the airfoil is its derivative of the mass with respect to the coordinate equation, namely:
Figure BDA0003466460970000073
the instantaneous momentum that the water of the virtual mass m (y) can produce is:
Figure BDA0003466460970000074
according to the acting force and the reacting force, the instantaneous lateral force applied to the unit airfoil is as follows:
Figure BDA0003466460970000081
the instantaneous propulsive force generated by the whole airfoil is then:
Figure BDA0003466460970000082
if the swing amplitude of the flexible airfoil is not changed and the swing period is 0.4s, the calculation verifies that the flexible airfoil swings to a certain extent along with waves, and then thrust is generated. In addition, in the upward swing stage, the thrust generated by the airfoil surface can be gradually increased, so that compared with a conventional T-shaped airfoil, the flexible T-shaped airfoil stabilizer can indeed provide additional thrust, and the effects of improving the rapidity of the ship, saving energy and increasing the endurance are achieved.
The water spraying 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 fishing 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 other parts are connected with the controller 4-3 and the energy cabin 4-2 through extension lines. The remote automatic fishing device 3-1 is provided with two, two opposite sides of the rear part of the three-body boat body 1 are symmetrically arranged, 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, the stepping motor 3-7 is arranged on two sides of a tail deck of the connecting deck 1-3 through a motor support and bolts, a motor shaft of the stepping motor is connected with a base of the screw stepping motor 3-8, the screw stepping motor 3-8 is connected with the fishing net frame 3-9 through a connecting piece matched with screw threads of the screw stepping motor, the fishing net frame 3-9 consists of a lifesaving fishing net and a metal frame, the whole metal frame is in a cylinder shape, the periphery of the metal frame is fully covered with an elastic lifesaving fishing net, and a personnel inlet is reserved at the lower part in front. The lifesaving net cushion 3-10 is an elastic net cushion, and is arranged 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 connected with the controller 4-3 in a signal manner.
The lifesaving net cushion 3-10 is an elastic net cushion which is arranged in the middle of the tail deck of the connecting deck 1-3, when land personnel find out people falling into water through the camera 3-5, the unmanned ship is controlled to stop to a proper place, the screw stepping motor 3-8 is remotely controlled by the controller 4-3 to drive the net frame 3-9 to descend to a certain underwater position, after the people falling into water enter the net frame, the screw stepping motor 3-8 is controlled to drive the net frame 3-9 to ascend to a certain height, the stepping motor 3-7 is remotely controlled by the controller 4-3 to rotate, the screw stepping motor 3-8 and the net frame 3-9 are further driven to rotate to the upper part of the lifesaving net cushion 3-10, and finally the people falling into water are finally placed in the lifesaving net cushion 3-10.
The remote automatic throwing device 3-2 is arranged on two opposite sides of the middle of the three-body boat body 1, the remote automatic throwing device 3-2 comprises a steering engine 3-11 and a multi-lock mechanical structure 3-12, the steering engine 3-11 is arranged on bulkheads connected with two sides of the tail of the head deck of the deck 1-3, the multi-lock 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-lock mechanical structure 3-12 through ropes, a plurality of life buoys and life rafts hung on the side of the boat body are connected with the multi-lock mechanical structure 3-12 through ropes, and the rotation of rudder bars 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 personnel can remotely pacify the emotion of site fall-down personnel, and the necessary self-rescue can be developed. The electric heating blower 3-3 is fixed on the inner side of the remote automatic fishing device 3-1 through bolts, can maintain the body temperature for people falling into water and wait for rescue; the cameras 3-3 comprise 5 cameras which are respectively fixed at the front end of the head deck and the periphery of the tail deck of the connecting deck 1-3, so that an optimal rescue view angle is provided for land rescue workers. The unmanned aerial vehicle 3-5 berths in the middle part of connecting deck 1-3, and it links to each other with the basic station signal on the ship, and its camera of taking can provide help for the rescue personnel to seek out personnel's in water position and know marine accident scene environment fast, better launch follow-up rescue.
The water jet propeller 4-1 adopts a single pump device, is mounted on a boat bottom plate at the tail end of a main boat body of the three-body boat body 1 through bolts, is connected with the energy cabin 4-2 and the controller 4-3 through a circuit, and realizes steering, advancing, reversing and the like of the unmanned boat by remotely controlling 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.
When the unmanned ship works, 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 independently navigate by controlling the water spraying propeller 4-1. When the sea condition is severe and the wave is large, the result of the navigation state calculation is used for controlling the rotation of the double-output-shaft stepping motor 2-4 through the controller 4-3, so that the angle-adjustable flexible flap 2-3 is driven to achieve the optimal anti-rolling attack angle, the pitching effect is reduced, meanwhile, the tail flexible airfoil of the angle-adjustable flexible flap 2-3 can swing back and forth along with the wave, certain additional thrust can be generated in each swinging period, and the rapidity of the unmanned ship is improved while the influence of additional resistance is reduced.
For more efficient completion marine rescue operation, unmanned ship design's comprehensive integrated rescue system, when unmanned ship high-speed goes to the marine disaster scene, monitor around the sea area through camera 3-5 that carries, control small-size unmanned aerial vehicle 3-6 lift-off provides wider detection view angle, when finding the personnel in water position, unmanned ship goes to the vicinity of personnel in water, pacify the personnel in water and command personnel in water and carry out effectual saving oneself through controller 4-3 long-range intercom 3-3, control steering wheel 3-11 rotates the rudder stock simultaneously, and then release rescue equipment such as life raft or life buoy that hangs on the mechanical structure 3-12 of many lock ways, let personnel in water obtain the rescue of first time as early as possible.
The unmanned boat is driven to the vicinity of a person falling into water through the camera 3-5, the screw stepping motor 3-8 is controlled to rotate positively through the controller 4-3, the net-taking frame 3-9 which is welded and connected with a connecting piece matched with the screw thread of the screw is driven to descend to a fixed position, after the person falling into water enters the net-taking frame 3-9 from an inlet right in front of the net-taking frame 3-9, the screw stepping motor 3-8 is controlled to rotate reversely through the controller 4-3, the net-taking frame 3-9 which is welded and connected with the connecting piece matched with the screw thread of the screw is driven to ascend to the fixed position, the screw stepping motor 3-7 is controlled to rotate through the controller 4-3, the screw stepping motor 3-8 and the net-taking frame 3-9 are driven to rotate to the upper side of the life-saving net pad 3-10, finally, the person falling into the life-saving net pad 3-10 is placed finally, after the person falling into the life-saving net pad 3-10, the electric radiator 3-3 is controlled to supply heat to the person falling into water through the controller 4-3, the electric heater is controlled to heat, the motor 3-7 is controlled to rotate to the screw stepping motor 3-7, and the screw stepping motor 3-7 is driven to rotate reversely, the screw stepping motor 3-7 is driven to rotate for a plurality of times, and the rescue operation is continued for a long time.
In order to better achieve the purpose, the design method of the three-body rescue unmanned ship with the flexible T-shaped wings comprises the following steps:
step one: design variable: the main body of the small waterplane area has the length of the first section of Lh, the length of the middle section of Lm, the length of the tail section of La, the height of the strut of H and the length of the conventional slender side body of L 1 Width B of 1 Square coefficient C of three-body boat body b Draft T, depth D, design navigational speed Vs, propeller diameter Dp, propeller disk surface ratio Aeo, propeller rotational speed N at design navigational speed, and floating center longitudinal position L cb Center of gravity longitudinal position Xg, disk surface ratio A eo Pitch ratio P DP Horizontal chord length L 2 Span L of horizontal wing 3 Perpendicular chord L 4 Vertical wing span L 5 Flexible flap chord L 6 Flexible airfoil area A 1 。
Step two: determining an objective function:
the rapidness of the ship refers to the discussion of the power of a host machine consumed during sailing and the maximum sailing speed which can be achieved by the ship under the combined action of thrust and resistance, the three-body unmanned ship adopts the flexible T hydrofoil, the flexible airfoil also plays a role in the sailing process, the additional thrust generated by the flexible airfoil is considered in the whole thrust, the naval coefficient is selected as a rapidness objective function, and the larger the objective function value is, the better:
Figure BDA0003466460970000101
wherein: delta-displacement; v (V) S -designing the speed; r is R t Total resistance.
For the manipulability of a trimaran, the manipulability index K and the stability balance number C are often used as indexes for checking the excellent manipulability of the trimaran, and the manipulability objective function h (x 2 )：
Figure BDA0003466460970000111
Wherein: 0 < g i ＜1，g 1 *g 2 ＝1。
For rescue, mainly consider the functionality theta of a stepper motor with a remote automatic fishing device 1 Functional theta of screw stepping motor 2 Structural strength phi of fishing net frame 1 Structural strength phi with life-saving net cushion 2 Functional theta of remote automatic throwing device steering engine 3 And structural strength phi of multi-lock mechanical structure 3 Functional theta of remote interphone 4 Functional theta of electric warm hair drier 5 Functional theta of camera 6 Functional θ of small unmanned aerial vehicle 7 The larger and better these functional and strength indices are, the more well f is constructed 3 (x) As a functional objective function, and the larger its value is, the best performance, the expression is:
Figure BDA0003466460970000112
wherein: 0 < epsilon i ＜1，ε 1 *ε 2 *ε 3 *ε 4 *ε 5 *ε 6 *ε 7 *ε 8 *ε 9 *ε 10 ＝1。
In unmanned ship rolling motion, the rolling inertia radius is used as one of key parameters for judging the rolling quality of the unmanned ship, the rolling inertia radius is quite suitable as a judging standard for the rolling performance of the unmanned ship, and the ship wave resistance index R proposed by counting a large number of ship wave resistances according to Bels can be used for judging the wave resistance quality of the ship and can also be used as a standard for selecting a ship with better wave resistance, so that the Bels ship wave resistance index R is used as a wave resistance objective function of the three-body unmanned ship:
h 4 (x)＝R＝8.422+45.104C wf +10.078C ws -378.465(T/L)+1.273(C/L)-23.501C VPf -15.875C VPs
wherein: c (C) wf Is the coefficient of the front water plane of the midship; c (C) ws Is the coefficient of the water plane behind the midship; C/L means the cut-off ratio; c (C) VPf Substitution of
Watch III
The front prismatic coefficient of the body boat midship; c (C) VPs Representing the rear prismatic coefficient of the midship of the three-body boat.
The total objective function H (x) is constructed by combining the three aspects, and the expression is as follows:
Figure BDA0003466460970000113
wherein:
Figure BDA0003466460970000114
constraint conditions
Reasonable upper and lower limits of each design variable;
the propeller needs to meet cavitation requirements;
according to the ship entry level specification, the total area requirement of the rudder;
according to the stability specification of the ship, the primary stability of the forward floating is more than 0.3 meter;
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 by the main engine to the propeller is equal to the hydrodynamic torque born by the propeller;
torque balance constraints; the torque supplied by the main engine to the propeller is equal to the hydrodynamic torque born by the propeller.

Claims (8)

1. Three-body rescue unmanned ship with flexible T type wing, its characterized in that: the novel three-body rescue system comprises a three-body boat body (1), a flexible T-shaped wing anti-shake device (2), a comprehensive integrated rescue system (3) and a control system (4), wherein the flexible T-shaped wing anti-shake device (2) is respectively arranged on the outer sides of the head part and the tail part of the three-body boat body (1), the comprehensive integrated rescue system (3) is arranged at the top part of the three-body boat body (1), the control system (4) comprises a water spraying propeller (4-1), an energy cabin (4-2) and a controller (4-3), the water spraying propeller (4-1) is arranged at the tail part of the three-body boat body (1), the energy cabin (4-2) and the controller (4-3) are integrally arranged at the top part of the three-body boat body (1), and the flexible T-shaped wing anti-shake device (2), the comprehensive integrated rescue system (3), the water spraying propeller (4-1) and the energy cabin (4-2) are respectively in signal connection with the controller (4-3);
the flexible T-shaped wing stabilizer (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 arranged at the tail part 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 the three-body boat body (1), and the double-output-shaft stepping motor (2-4) is in signal connection with the controller (4-3);
the three-body boat body (1) comprises a small waterplane main boat body (1-1), an elongated side body (1-2) and a connecting deck (1-3), wherein the small waterplane main boat body (1-1) comprises a submarine body and support columns, two support columns are transversely arranged on the submarine body at intervals, the connecting deck (1-3) is arranged on the top surfaces of the two support columns, the elongated side body (1-2) is respectively arranged on the longitudinally opposite two sides of the connecting deck (1-3), flexible T-shaped wing stabilizer (2) are respectively arranged on the opposite sides of the two support columns, and the flexible T-shaped wing stabilizer (2) is arranged on the upper portion of the submarine body.
2. A three-body rescue unmanned boat with flexible T-wings as defined in claim 1, wherein: the water spraying 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).
3. A three-body rescue unmanned boat with flexible T-wings as defined in claim 1, wherein: the overall length of the three-body boat body (1) is 20-30 m, the length-width ratio is 3.5-5, the struts are of slender symmetrical wing shapes, the length of each strut is 1/7-1/6 times of the overall length of the three-body boat body (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 a position 1/4-1/6 of the rear of the bow section of the three-body boat body (1), the second strut is located at a position 3/4-5/6 of the rear of the bow section of the three-body boat body (1), the slender side bodies (1-2) are of round bilges, the length-width ratio of each strut is 11-13, and the connecting decks (1-3) are divided into a first deck and a tail deck.
4. A three-body rescue unmanned boat with flexible T-wings as defined in claim 1, wherein: the vertical wing (2-1) is an NACA0012 wing, the chord length is 0.8-1 times of the chord length of the horizontal wing (2-2), the height is 8-12% of the boat length of the three-body boat body (1), the horizontal wing (2-2) is an NACA0012 wing, the span is 90-100% of the boat width of the three-body boat body (1), the chord length is 1/2-2/3 of the span, and the flexible wing in the angle-adjustable flexible wing flap (2-3) occupies 1/4-1/3 of the total area.
5. A three-body rescue unmanned boat with flexible T-wings as defined in claim 1, wherein: the comprehensive integrated rescue system (3) comprises two remote automatic fishing devices (3-1), remote automatic throwing devices (3-2), remote interphones (3-3), electric heating blowers (3-4), cameras (3-5) and small unmanned aerial vehicles (3-6), wherein the two remote automatic fishing devices (3-1) are symmetrically arranged on two opposite sides of the rear portion of the three-body boat body (1), one remote automatic throwing device (3-2) is arranged on two opposite sides of the middle portion of the three-body boat body (1), the remote interphones (3-3) are arranged on the top surface of the front portion of the three-body boat body (1), the electric heating blowers (3-4) are arranged on the remote automatic fishing devices (3-1) through bolts, the cameras (3-5) are respectively arranged on the periphery of the front end and the tail end of the upper portion of the three-body boat body (1), and the small unmanned aerial vehicles (3-6) are arranged in the middle of the upper surface of the three-body boat body (1), and the remote automatic fishing devices (3-1), the remote automatic throwing devices (3-2) and the small unmanned aerial vehicles (3-5) are connected with the cameras (3-4) in a parking mode.
6. A three-body rescue unmanned boat with flexible T-wings as defined in claim 5, wherein: 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 arranged 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 arranged 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 connected with a controller (4-3) through signals.
7. A three-body rescue unmanned boat with flexible T-wings as defined in claim 5, wherein: the remote automatic throwing device (3-2) comprises a steering engine (3-11) and a multi-locking mechanical structure (3-12), wherein the steering engine (3-11) is arranged on the three-body boat body (1), the multi-locking mechanical structure (3-12) is connected with the steering engine (3-11) through bolts, and the life buoy or the life raft is connected with the multi-locking mechanical structure (3-12) through ropes.
8. A method of designing a three-body rescue unmanned boat with flexible T-wings as claimed in claim 7, comprising the steps of:
step one: design variable:
the length of the first section of the main body of the small waterplane area of the unmanned ship is Lh, the length of the middle section is Lm, the length of the tail section is La, the height of the support column is H, and the length of the slender side body is L 1 Width B of 1 Square coefficient C of three-body boat body b Draft T, depth D, design navigational speed Vs, propeller diameter Dp, propeller disk surface ratio Aeo, propeller rotational speed N at design navigational speed, and floating center longitudinal position L cb Center of gravity longitudinal position Xg, disk surface ratio A eo Pitch ratio P DP Horizontal chord length L 2 Span L of horizontal wing 3 Perpendicular chord L 4 Vertical wing span L 5 Flexible flap chord L 6 Flexible airfoil area A 1 ；
Step two: establishing an objective function:
the unmanned ship is considered to adopt a flexible T hydrofoil, the additional thrust generated by the flexible airfoil is considered in the whole thrust, the naval coefficient is selected as a rapidness objective function, and the larger the objective function value is, the better is the setting objective function value, so that the unmanned ship has the following advantages:
Figure FDA0004105624650000031
wherein: p (P) S Is the host power; r is R t Is the total resistance; v (V) s The navigational speed is designed; delta is the displacement; η (eta) H Is hull efficiency; η (eta) 0 The water-opening efficiency of the propeller behind the ship is improved; η (eta) s The transmission efficiency of the shaft system is; η (eta) R Is the relative rotation efficiency;
for the maneuverability of unmanned ships, the gyration index K and the stability balance number C are often used as indexes for testing the good maneuverability of the three-body ships, and the dimensionless K 'and C' are combined in the form of power exponent products, so that the maneuverability objective function is as follows:
Figure FDA0004105624650000032
wherein: g 1 Is the weight of rotatability; g 2 Is the weight of the direct-navigation stability; 0 < g i ＜1，g 1 *g 2 ＝1；
N δ ' is dimensionless rudder moment derivative; y is Y δ ' is dimensionless derivative of rudder force; n (N) v ' is the derivative of the linear acceleration of the dimensionless hydrodynamic moment; n (N) r ' is the derivative of the angular acceleration of the dimensionless hydrodynamic moment; y is Y v ' is the derivative of dimensionless hydrodynamic linear acceleration; y is Y r ' is the derivative of dimensionless hydrodynamic angular acceleration; m' is the dimensionless ship mass;
for rescue, mainly consider the functionality theta of a stepper motor with a remote automatic fishing device 1 Functional theta of screw stepping motor 2 Structural strength phi of fishing net frame 1 Structural strength phi with life-saving net cushion 2 Functional theta of remote automatic throwing device steering engine 3 And structural strength phi of multi-lock mechanical structure 3 Functional theta of remote interphone 4 Functional theta of electric warm hair drier 5 Functional theta of camera 6 Functional θ of small unmanned aerial vehicle 7 The larger and better these functional and strength indices are, the more well f is constructed 3 (x) As a functional objective function, and the larger its value is, the best performance, the expression is:
Figure FDA0004105624650000033
/>
wherein: epsilon i Represents the weight, ε 1 *ε 2 *ε 3 *ε 4 *ε 5 *ε 6 *ε 7 *ε 8 *ε 9 *ε 10 ＝1；
In unmanned ship rolling motion, the rolling inertia radius is used as one of key parameters for judging the rolling quality of the unmanned ship, the rolling inertia radius is quite suitable as a judging standard for the rolling performance of the unmanned ship, and the ship wave resistance index R proposed by counting a large number of ship wave resistances according to Bels can be used for judging the wave resistance quality of the ship and can also be used as a standard for selecting a ship with better wave resistance, so that the Bels ship wave resistance index R is used as a wave resistance objective function of the three-body unmanned ship:
h 4 (x)＝R＝8.422+45.104C wf +10.078C ws -378.465(T/L)+1.273(C/L)-23.501C VPf -15.875C VPs wherein: c (C) wf Is the coefficient of the front water plane of the midship; c (C) ws Is the coefficient of the water plane behind the midship; C/L represents the cut-off ratio; c (C) VPf Substitution of
Front prismatic coefficients of the midship of the three-body yacht; c (C) VPs Representing the rear prismatic coefficient of the midship of the three-body boat; T/L represents the ratio of draft to captain;
the total objective function H (x) is constructed by combining the three aspects, and the expression is as follows:
Figure FDA0004105624650000041
wherein:
Figure FDA0004105624650000042
representing weight(s)>
Figure FDA0004105624650000043
/>
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