Longitudinal motion control method for hydrofoil boat

A technology of longitudinal movement and control method, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc. Affecting communication network transmission speed and accuracy and other issues, to achieve the effect of improving real-time performance, improving stability, and facilitating adjustment

Active Publication Date: 2020-02-25
HARBIN ENG UNIV
View PDF10 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the communication delay will affect the speed and accuracy of the communication network transmission, which will cause the state information such as pitch and heave obtained by the control system of the hydrofoil boat to have time delay, which will affect the control optimization adjustment of the hydrofoil boat.
The communication d

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Longitudinal motion control method for hydrofoil boat
  • Longitudinal motion control method for hydrofoil boat
  • Longitudinal motion control method for hydrofoil boat

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0097] Examples:

[0098] This section verifies the performance and effectiveness of the above-explained method using robust predictive control algorithm to solve the influence of communication delay in the sensor network through the simulation experiment of the PCB hydrofoil craft.

[0099] Simulation uses tools such as Matlab Simulink.

[0100] The state matrix A, B, C, D of the hydrofoil craft can be obtained by searching the data, as shown below

[0101]

[0102]

[0103]

[0104] D=[1,0,1,0] T

[0105]

[0106] First, initialize the parameters of K in the formula into the simulation, and set the initial value of the state estimate Is [0,0,0,0] T , The initial values ​​of delay and estimated error estimates are respectively e=0, e s =0. Then estimate based on the derived delay The hydrofoil model and other formulas are used to build a simulation model, and use the robust predictive control algorithm to design the control program. The learning parameter γ in the delay prediction ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a longitudinal motion control method for a hydrofoil boat. The method comprises the steps of: establishing a state equation for a hydrofoil boat according to the longitudinal motion characteristics of the hydrofoil boat; and designing a robust controller, enabling the estimated time delay value to approach to a real time delay value by utilizing a robust estimation controlalgorithm, wherein the estimated hydrofoil boat state model approaches the real hydrofoil boat motion state, so that when the estimated hydrofoil boat motion state follows a given reference state, thereal state of the hydrofoil boat can still follow the given reference state in the presence of sensor network communication delay, and the hydrofoil boat motion state is stable. According to the method, the estimation control algorithm is adopted to research the estimation method of the communication time delay, the real-time performance of the system is improved, the system can rapidly control the attitude of the hydrofoil boat, and the efficiency is improved. Robust control is adopted, interference of sea waves on the hydrofoil boat is considered, the stability of the system is greatly improved, and adjustment of the posture of the system is facilitated to a large extent.

Description

technical field [0001] The invention relates to a method for controlling the longitudinal motion of a hydrofoil boat, in particular to a method for controlling the longitudinal motion of a hydrofoil boat using a robust predictive control algorithm, which belongs to the field of ship control. Background technique [0002] Modern hydrofoil boats are the product of mankind's breakthrough in Archimedes' principle and the belief in solving maritime transportation, and are the crystallization of aviation technology and navigation technology. For general displacement ships, when the Froude number is greater than 0.35, it will cause a sharp increase in wave-making resistance. In this way, if the speed of the ship is further increased, the power of the power plant will increase sharply, which will inevitably lead to an increase in the volume of the ship, and in turn the resistance of the fluid to the ship will increase. Therefore, when the speed of a displacement surface ship reache...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 李冰杨洋
Owner HARBIN ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap