Method and device for controlling course and heel of hydrofoil catamaran
A control method, catamaran technology, applied in transportation and packaging, equipment to reduce ship movement, equipment to increase stability of ships, etc., can solve the problem of not considering the dynamic characteristics of the hydrofoil servo system, etc., to improve the control accuracy and the effect of anti-jamming capability
Inactive Publication Date: 2017-10-27
HARBIN ENG UNIV
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Problems solved by technology
Most of the existing control methods are to calculate the force / moment and flap angle required to stabilize the yaw angle and roll angle through feedback forms such as state feedback, but the dynamic characteristics of the hydrofoil servo system are not considered
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[0062] Embodiments of the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, so they are only examples, and should not be used to limit the protection scope of the present invention.
[0063] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application shall have the usual meanings understood by those skilled in the art to which the present invention belongs.
[0064] In order to improve the control accuracy and anti-interference ability of the course and heel of the hydrofoil catamaran, the embodiment of the present invention provides a method for controlling the course and heel of the hydrofoil catamaran, and the specific implementation method is as follows figure 1 shown, including:
[0065] Step S101, according to the dynamic chara...
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The invention provides a hydrofoil catamaran course transverse inclination control method and device. The hydrofoil catamaran course transverse inclination control method comprises the steps that a hydrofoil catamaran course transverse inclination dynamics model with a hydrofoil servo system dynamic characteristic is obtained according to a hydrofoil catamaran dynamic characteristic parameter, a servo system dynamic characteristic parameter, external disturbance and servo system disturbance; the estimated value of the external disturbance and the estimated value of the servo system disturbance are obtained according to the hydrofoil catamaran course transverse inclination dynamics model; and the voltage control amount for controlling a hydrofoil servo driver is output according to the hydrofoil catamaran course transverse inclination dynamics model, the estimated value of the external disturbance and the estimated value of the servo system disturbance. According to the hydrofoil catamaran course transverse inclination control method and device provided by the invention, the control precision and anti-disturbance capacity of a hydrofoil servo system are improved, and the effect that better force / force torque, a flap angle and an empennage angle can be calculated and used for stabilizing a yawing angle and a rolling angle is ensured.
Description
technical field [0001] The invention specifically relates to a tracking control method and device for a course and heel of a hydrofoil catamaran. Background technique [0002] Hydrofoil catamaran is a composite high-performance ship with a new concept that combines the advantages of high-speed catamaran and hydrofoil. Since the hydrofoil provides lift to lift the hull out of the water, the hydrofoil boat overcomes the limitation of wave resistance and frictional resistance on the speed of the ship, reduces the impact of waves on the hull, and has better seaworthiness than displacement ships. However, since the hull is lifted out of the water by the lift of the hydrofoil, it lacks stability and robustness against disturbances from wind, waves and currents during high-speed navigation. Violent rocking motion will have a non-negligible impact on navigation performance and directly affect its seaworthiness; it will cause equipment failure, damage to the cargo on board, and even...
Claims
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IPC IPC(8): B63B39/00
CPCB63B39/00
Inventor 刘胜许长魁张兰勇王宇超
Owner HARBIN ENG UNIV