Control system for wave piercing catamaran and control parameter online-tuning method thereof

Abstract

The invention discloses an online tuning method of control parameters of a control system for a wave piercing catamaran. When the control system runs, scale factors kp11, kp13, kp21 and kp23 are tuned online in real time; attitude control for the wave piercing catamaran is achieved through controlled quantities generated from the tuned scale factors kp11, kp13, kp21 and kp23. A tuning mode includes the steps: four signals, namely pitching angle, pitching angular speed, heaving displacement and heaving speed, of the wave piercing catamaran during moving and deviations of the respective given signals are acquired through actual acquisition and processing of the wave piercing catamaran, the signals and the deviations are input into a fuzzy controller, the fuzzy controller generates scale factors kp11, kp13, kp21 and kp23, tuned online, according to preset fuzzy rules. The control system and the method have the advantages that the requirement for automatic adjustment of online control parameters of the wave piercing catamaran can be met, the control method is more adaptive to external environments, and control precision is improved accordingly.

Description

technical field [0001] The invention belongs to the design field of automatic control systems for ship navigation, and in particular relates to a wave-piercing catamaran system and an online tuning method for its control parameters. Background technique [0002] The wave piercing catamaran is a new type of ship born in recent years. It has the characteristics of high speed, good seaworthiness, shallow draft, excellent seakeeping performance, flexible maneuvering, spacious deck surface, and convenient use. The wave piercing catamaran is because of its Excellent high speed and seakeeping have been widely used in the shipping industry. However, the operation practice shows that compared with conventional round bilge ships or deep V-shaped ships, the improvement of wave piercing catamarans in heave, roll and other characteristics is not obvious, and further improvement is still needed. Navigation self-control anti-rolling is an effective means to improve the seakeeping of wave-...

AI Technical Summary

Problems solved by technology

[0016] The motion of WPC in waves is a typical uncertain system. It is difficult to obtain an accurate mathematical model due to the influence of wind, wave, current and other disturbance factors and sailing conditions. Moreover, for different situations, the above feedback gain The specific value of the matrix K may be different

Therefore, using a fixed feedback gain matrix K will limit the automatic adaptation ability of the control method to the external environment, thus affecting the control accuracy

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