A Simplified Robust Adaptive Pitch Control Method for Multihull Vessels

Abstract

The invention discloses a simplified robust self-adaptive pitching-reduction control method for a multi-hulled ship. A heaving and pitching coupled movement model of the multi-hulled ship is established and converted into a state space form, and the heaving and pitching coupled movement model is decomposed into a heaving movement model and a pitching movement model which are decoupled; according to the heaving movement model and the pitching movement model which are decoupled, expansion state observing devices are separately designed and used for estimating movement states and coupling items of the multi-hulled ship; by combining the steps, the virtual controlling quantity is obtained by integrating the basic controlling quantity of the multi-hulled ship and the estimated coupling items, and the virtual controlling quantity is distributed to attack angles of T-shaped wings and a spray strip. Variation of the heaving height and the pitching angle of the multi-hulled ship is controlled through force and moment generated by the attack angles. The control method is simple, reliable and easy to realize, and can effectively achieve the purposes that heaving of the multi-hulled ship is reduced by 20%-35%, and pitching of the multi-hulled ship is reduced by 40%-50%.

Description

technical field [0001] The invention belongs to the field of ship navigation stability control, in particular to a simplified robust self-adaptive pitch reduction control method for a multihull ship. Background technique [0002] Multihull ships are an important development direction of modern high-performance ships, with good lateral stability, seakeeping and maneuverability. However, when sailing at high speed, the unique line shape and structure of the multihull ship cause the hydrodynamic forces at different speeds to produce different degrees of longitudinal overturning moments on the underwater hull. dynamic changes; on the other hand, the longitudinal restoring moment of the multihull ship is small, so the pitch / heave motion range of the multihull ship is too large, and the longitudinal motion is prone to instability, which has a non-negligible impact on the sailing performance and seriously affects its airworthiness. Therefore, anti-pitch control for multihull ship...

AI Technical Summary

Problems solved by technology

The traditional longitudinal anti-rolling control adopts the separation of two channels of pitching and heave, and design gain scheduling proportional-derivative control for anti-rolling, but the control method takes a lot of time to debug parameters offline, the robustness is weak, and the anti-rolling effect is average

On the other hand, although fuzzy control and robust control improve the robust performance of multihull ship anti-rolling, they have shortcomings such as too conservative controller design, poor adaptive ability, limited scope of application, and complex design, which are difficult to apply in engineering

At present, there is no domestic research on the integration of feedback control law and adaptive online compensation to improve the adaptability and stability of anti-rolling control.

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