UUV操纵性能综合优化模型研究

操纵性能是无人潜器（UUV）航行的重要性能之一,其优劣直接影响到UUV的航行安全和稳定性,UUV操纵性能评判和优化是UUV优化设计的重要组成部分.基于AUTOSUB型无人潜器的设计模型,在充分分析艇体操纵性能的基础上,重点研究UUV水平运动和垂直运动性能,提出了较为完备的UUV操纵性能优化数学模型.采用模糊评判方法构造操纵性系统总目标函数,利用专家咨询法确定了各子系统的权重;通过大量艇体操纵性能数据对各个性能指标进行统计分析,选择模糊数学中对应的隶属度函数进行拟合,确定相应隶属度函数参数;利用禁忌搜索算法对遗传算法的改进而得到的遗传禁忌搜索算法（GA-TS）,由并行和分层策略改进遗传算法得到的并行遗传算法（PGA）以及遗传二次载波算法（LGA）,将数学模型与这3种算法集成,利用C＋＋语言编写了UUV操纵性能优化软件.通过对总系统优化得到的遗传禁忌搜索算法寻优能力最强,利用该算法研究水平面运动和垂直面运动2个子系统,得到各个性能指标权重对系统目标函数影响程度的排序,同时分别得到-组最佳性能的权重分配.

A Comprehensive Optimization Model for UUV Maneuverability Performance

Maneuverability is one of the most crucial navigation characteristics of Unmanned UnderwaterVehicle（UUV）,which directly impacts the safety and stability of the vehicle. Therefore,the evaluationand optimization of its maneuverability are key steps during the UUV design process. In this paper,a com-prehensive mathematical model for maneuverability optimization of UUV is proposed,based on the AUTO-SUB type UUV structure and adequate analysis of UUV maneuvering performance（mainly vertical and hor-izontal motion）. The objective function is constructed using the fuzzy evaluation method,with the weight ofeach subsystem function determined by the expert consultation method;the membership functions are ob-tained through statistical analysis of all the indicators and functions chosen in the fuzzy library;the Genet？ic Algorithm（GA）is incorporated with Tabu Search（TS）and forms the GA-TS algorithm,which can befurther categorized into parallel and layered strategies called Parallel Genetic Algorithm（PGA）and Lay-ered Genetic Algorithm（LGA）. Finally,the UUV maneuverability optimization program is written via C＋＋by integrating the mathematical model with three obtained algorithms. In contrast with PGA and LGA,theGA-TS algorithm shows high optimizing capacity. Also,the weight influence of each performance indicatoron the system objective function is analyzed for horizontal and vertical motion subsystems,and the optimalweight distribution is presented.