中文摘要：

传统的螺旋桨推进器工作噪声大,效率低,而仿鱼尾推进器技术有望改进这些不足,从而提出利用仿鱼尾推进动力定位的思想。通过对鱼尾推进模式和动力学的研究,设计出了最佳参数的仿鱼尾推进器。首先根据力的分解和拉格朗日动力学方程,计算出了前向推进力和各关节转矩,为课题研究奠定了力学基础;在动力定位控制研究中,通过惯性测量装置获取运动信息,采用卡尔曼滤波的数据融合算法实现姿态信息的解算,建立x方向上的空间运动模型并使用模糊自适应PID算法和传统PID算法仿真模拟。系统稳定性分析显示,PID控制存在14%的超调,而模糊自适应PID控制算法没有出现超调,两者的稳定时间均在240 s左右。最后由仿真分析验证模糊自适应PID算法更适合动力定位控制。

英文摘要：

In view that conventional propellers are featured by large working noise and low efficiency, while the fish-tail propeller technology is expected to improve these shortages, the idea of using fish-tail propeller to realize the ship＇s dynamic positioning is proposed. Based on the study of the fish-tail propulsion model and the dynamic features, a fish-tail propeller with optimum parameters is designed. Firstly, according to the force＇s decomposition and the Lagrange dynamics equation, the forward propulsion force and each joint torque are calculated, which lays a mechanical foundation for the subject research. In studying the dynamic positioning control, the motion information is obtained by inertial measurement device, and the data fusion algorithm based on Kalman filter is used to solve the attitude information. The spatial motion model in Xdirection is established, and the fuzzy adaptive PID algorithm and the traditional PID algorithm are used to conduct the simulations. The system stability simulation analysis shows that the PID control has 14% overshoot, while the fuzzy adaptive PID has no overshoot, and both the stability times are about 240 s, which show that the fuzzy adaptive PID algorithm is more suitable for dynamic positioning control.