High-speed ship anti-wave stability hydrodynamic force self-adaptive control method and implementation device

Abstract

The application discloses a high-speed ship wave-resisting stabilizing hydrodynamic force self-adaptive control method and an implementation device, and belongs to the field of high-speed ship wave-resisting stabilizing hydrodynamic force self-adaptive control. The application comprises a stabilizing device, a power driving device, a real-time monitoring module and a hydrodynamic force optimization control module. The stabilizing module comprises a vector water jet propeller for active stabilizing and an appendage for passive stabilizing. The vector water jet propeller is installed at the stern of the ship, can be actively adjusted in multi-angle rotation to form a control surface. The appendage is installed on both sides of the ship body and connected with the ship body through two mutually parallel electric connecting rods. The bottom of the electric connecting rod is connected with the ship body through a multi-angle rotating base. The crank is electrically driven by the hydrodynamic force optimization control module and moves in different directions to drive the connecting rod and the appendage to move horizontally and longitudinally. The sensor and the gyroscope installed on the ship body can obtain the ship body posture, the appendage position and the sea state information in real time. The monitoring data is brought into the hydrodynamic force optimization control system to obtain the optimal solution of the appendage position, and the high-speed ship wave-resisting stabilizing hydrodynamic force self-adaptive control is realized according to the optimal solution of the appendage position.

Description

TECHNICAL FIELD

[0001] The application relates to a water power adaptive control method for wave resistance stabilization of a high-speed ship and an implementation device thereof, and belongs to the field of water power adaptive control for wave resistance stabilization of a high-speed ship. BACKGROUND

[0002] The motion of a ship is greatly affected by wind and waves, and the ship usually makes violent rolling and pitching motions in waves. The wave adaptability and navigation stability of the ship during high-speed navigation are poor, and the ship is prone to attitude instability and difficult water power performance control. The traditional ship achieves the effect of roll reduction and stabilization by increasing the bilge keel and roll fin, but this method has poor applicability, significantly increases the navigation resistance of the ship in a static water environment, and cannot be adaptively adjusted according to specific sea conditions. The above shortcomings limit the application scenarios and application range of the ship. When the ship needs to navigate at high speed in a rough sea area or a shallow water area, the existing method cannot perform work tasks and safely and stably navigate at high speed in the area because it cannot realize wave resistance stabilization adjustment and water power adaptive control in waves. SUMMARY

[0003] In order to solve the problem of water power adaptation of a ship in complex sea conditions, the main purpose of the application is to provide a water power adaptive control method for wave resistance stabilization of a high-speed ship and an implementation device thereof. The ship body is provided with various sensors to obtain real-time feedback of the ship body attitude, appendage position and sea condition information. The optimal position of the appendage is solved in the water power optimization controller, and the attitude is quickly and effectively adjusted in cooperation with the vector jet installed at the stern to realize water power adaptive control for wave resistance stabilization of a high-speed ship.

[0004] The purpose of the application is realized by the following technical scheme:

[0005] The water power adaptive control method for wave resistance stabilization of a high-speed ship disclosed by the application is realized based on a high-speed ship wave resistance stabilization device. The water power optimization controller combines various sensors installed on the ship body to realize real-time sensing of the environment, ship body attitude and speed. The appendage is driven to move to adjust the attitude of the ship body, so that the purpose of wave resistance stabilization of a high-speed ship is achieved. The method comprises the following steps:

[0006] Step one, the water power optimization controller adjusts the positions of the two side appendages according to the six-degree-of-freedom motion equation of the ship. The six-degree-of-freedom motion equation of the ship in the inertial coordinate system is as follows:

[0007]

[0008]

[0009]

[0010]

[0011]

[0012]

[0013] force and moment The force and moment of the ship body, the propeller, the appendage and the sea wave are represented by the subscripts H, P, S and W respectively. I represents the moment of inertia, p, q and r represent the angular velocity of the ship body relative to the x, y and z axes respectively, and u, v and w represent the linear velocity of the ship body relative to the x, y and z axes respectively.

[0014] Step two, in order to avoid frequent movement of the appendage, the state observation method is used to filter the sea wave, and the high-frequency motion of the sea wave disturbance is filtered out in the feedback signal; a nonlinear state observer is constructed based on the passive theory, and the form of the filter is:

[0015]

[0016] wherein the damping of the notch filter is generally between 0.01 and 0.1, , the cutoff frequency is measured by the sea wave radar, n is the low-frequency disturbance, and s is the useful signal; the filter of the sea wave disturbance is integrated with the optimization control module to improve the control accuracy.

[0017] Step three, after eliminating the interference of the external environment in the hydrodynamic optimization controller, the longitudinal distance CL and the transverse distance ST of the appendage are adaptively adjusted for the ship body at a certain speed V, and the ship speed is defined as The optimization target is to meet the double target optimization mode of the minimum resistance of the unit displacement and the minimum seakeeping index SKI, and the objective function can be expressed as:

[0018]

[0019]

[0020] wherein L / B is the length of the ship / the width of the ship, and B / T is the width of the ship / the draft.

[0021] Step four, in order to ensure the safe navigation of the ship body during the optimization process, the optimization conditions need to be constrained. The constraint condition is the attitude angle of the ship body, and the threshold values of the pitch angle and the roll angle are set, if or , stop searching for the optimal solution, the monitoring quantity is transmitted to the optimization control module, and the position of the appendage is adjusted according to the calculation formula of the required righting moment of roll and righting moment of pitch of the ship body . , , wherein Z s is the buoyancy of the appendage.

[0022] Step five, when the attitude angle of the ship body exceeds the safety threshold, the vector jet nozzle adjusts the attitude of the ship body in cooperation with the appendage; (1) pitch angle adjustment: when the pitch angle of the ship body exceeds the safety threshold, the vector jet nozzle is appropriately adjusted up and down to change the direction of water flow to provide thrust, and the vector jet nozzle is rotated upward to realize the "lifting of the head" of the ship body to improve the bow pitch, and the vector jet nozzle is rotated downward to realize the "sticking of the head" of the ship body to improve the stern pitch; (2) roll angle adjustment: when the roll angle of the ship body exceeds the safety threshold, the directions of the vector jet nozzles on the left and right sides are opposite, and the upward and downward thrusts are provided, respectively; if the ship body tilts to the right side, the vector jet nozzle on the right side provides upward thrust, and the vector jet nozzle on the left side sprays water upward to form a righting moment of roll;

[0023] Step six, when the attitude angle does not exceed the safety threshold, the hydrodynamic optimization controller uses a multi-objective genetic algorithm to obtain the optimal solution of the position of the appendage at different speeds according to the optimization objective function; the optimal solution of the Pareto multi-objective genetic algorithm is established according to the superior relationship of the solution, and the decision variables are CL and ST, and if the following condition is met:

[0024]

[0025] , wherein f is the size of the fitness corresponding to the objective function; s and k are the serial numbers of the objective functions, and X1 and X2 are CL and ST of the appendage at different positions at a certain speed V; at this time, it is called that X1 can dominate X2, and if it is not met, the optimal solution is a set; the optimal solution set is normalized, and the distance from the preset ideal point is used as an evaluation index, and the solution closest to the ideal point is selected as the optimal solution; the solving steps are as follows:

[0026]

[0027] is the difference between the maximum value and the minimum value of the s-th objective in the optimal solution set;

[0028] The minimum value of the s-th objective is represented as: , After normalization, it is represented as: , which represents the distance of each point in the optimal solution set from the ideal point; when ​When the minimum value is reached, it corresponds to the optimal position for the attachment. At the optimal position, the conditions of minimum resistance and best seakeeping performance are met, and the hull can ensure stable and safe navigation even at high speeds.

[0029] This invention discloses a high-speed ship wave-resistant and stabilizing device for realizing a hydrodynamic adaptive control method for high-speed ships. The device includes a stabilizing appendage, a wave radar, an attitude angle gyroscope, a multi-angle rotatable base, a vector waterjet propulsion unit, a power drive module, a longitudinal distance sensor for the appendage, a lateral distance sensor for the appendage, an electric drive crank, an electric drive connecting rod, and a hydrodynamic optimization controller. A vector waterjet propulsion unit is installed on each of the left and right sides of the hull. Each propulsion unit has a vector nozzle and can rotate 360 ​​degrees to actively adjust the thrust vector, forming a control surface. By changing the direction of the vector nozzle, ship steering and attitude adjustment can be achieved. Besides controlling left and right steering, it can also adjust thrust vertically. The stabilizing appendage is installed on both sides of the hull and connected to the hull via two parallel electric drive connecting rods and an electric drive crank. The bottom of the electric drive crank is movably connected to the hull via a multi-angle rotatable base. The electric drive crank and the electric drive connecting rod are movably connected via joints, enabling the stabilizing appendage to achieve lateral and longitudinal movement.

[0030] The vessel is equipped with a wave radar at the bow and an attitude angle gyroscope at the center of gravity, and a power drive module at the stern. The stabilization appendages are equipped with longitudinal and lateral distance sensors. The wave radar, gyroscope, and sensors monitor data in real time and transmit the data to the hydrodynamic optimization controller to determine the optimal position of the appendages. After determining the optimal position, the system sends control signals to the power drive module to change the appendage position.

[0031] Preferably, the total length of the electrically driven crank and the electrically driven connecting rod... The ratio of their lengths is 1:2, and the length of the electric drive crank... Through formula Determine the length of the electric drive link. Through formula Confirmed, among which The width of the ship's hull.

[0032] Preferably, the distance between the two electrically driven cranks on the same side is... , length of the stabilizer The distance s1 between the rotating support and the bow is calculated according to the formula: Sure.

[0033] Preferably, the drainage volume of the side body accounts for no more than 10%, and the drainage volume of the appendages... According to the formula Confirmed, among which This refers to the ship's displacement.

[0034] The high-speed ship wave-resistant stability-enhancing hydrodynamic adaptive control method and the implementation device have the advantages that when a nonlinear error exists, the robust adaptability of a closed-loop system is ensured, real-time optimization and adjustment of the attitude and the stability-enhancing appendage position are performed, the optimal stability-enhancing appendage position under the current sea state is matched, and energy saving and high efficiency are achieved.

[0035] Beneficial effects:

[0036] The application has the following advantages:

[0037] 1. The high-speed ship wave-resistant stability-enhancing hydrodynamic adaptive control method and the implementation device adaptively optimize the transverse position and the longitudinal position of the stability-enhancing appendage according to the changes of different sea states and ship speeds, and then change the seakeeping performance and the resistance performance of the whole ship, a sea wave high-frequency motion filter is added to the closed-loop control system, the system is relatively stable, the disturbance of the wave high frequency is excluded, compared with the method of installing a bilge keel and a fin stabilizer on a traditional ship, the application has a wider application range and a better wave-resistant and anti-rolling effect.

[0038] 2. The high-speed ship wave-resistant stability-enhancing hydrodynamic adaptive control method and the implementation device set a constraint condition of the attitude angle, when the roll angle of the ship body exceeds a safe range, the appendage can be timely deployed to increase the force arm and provide a larger roll restoring moment, when the pitch angle of the ship body is large, the appendage changes the longitudinal position to provide a larger pitch restoring moment. Meanwhile, the vector water jet propeller installed on the ship stern can provide upward and downward thrust by changing the direction of the vector jet, and assist in adjusting the ship attitude; the control system makes the stability-enhancing appendage not only have the wave-resisting and drag-reducing functions, but also can realize the ship attitude adjustment.

[0039] 3. The high-speed ship wave-resistant stability-enhancing hydrodynamic adaptive control method and the implementation device adopt a double-objective optimization method, establish the optimal solution of the Pareto multi-objective genetic algorithm through the superior relationship of solutions, coordinate different objective functions, that is, the optimization objective functions of the minimum unit displacement volume resistance and seakeeping coefficient, and compared with the traditional algorithm, the convergence speed is fast, and multiple objectives can be optimized.

[0040] 4. The high-speed ship wave-resistant stability-enhancing hydrodynamic adaptive control method and the implementation device flexibly adjust the transverse and longitudinal positions of the appendage by using the multi-angle rotating base installed on the main ship body and the electrically driven connecting rod, and the electrically connected device can timely receive the control signals from the power driving module to complete the adjustment of the optimal position of the appendage. Compared with the traditional ship body with fixed appendage position, the method has strong adaptability to the environment and can intelligently control the stability-enhancing device. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1A simplified model diagram with a ship and a wave-resistant stability-enhancing hydrodynamic self-adaptive control implementation device in the embodiment;

[0042] Figure 2 A schematic diagram of a ship structure with adjustable appendage position provided in the embodiment of the application;

[0043] Figure 3 A system flowchart of the ship hydrodynamic self-adaptive control method;

[0044] Figure 4 A partial enlarged view of the connecting rod structure between the appendage and the ship body;

[0045] wherein 1 is a ship body, 2 is a wave radar, 3 is an attitude angle gyroscope, 4 is a stability-enhancing appendage, 5 is a multi-angle rotatable base, 6 is an optimization control module, 7 is a vector water jet propeller, 8 is a power driving module, 9 is an appendage longitudinal distance sensor, 10 is an appendage transverse distance sensor, 11 is a joint, 12 is an electric driving crank, and 13 is an electric driving connecting rod. DETAILED DESCRIPTION

[0046] The application will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the application. These all belong to the protection scope of the application.

[0047] A catamaran model is adopted and simplified as shown in Figure 1 , and numerical simulation is performed under straight sailing conditions in four-level sea conditions. The main scale information of the main ship body is as follows:

[0048] Parameter Length / m Width / m Draft / m Draining volume / m 3 ]] Cross-sectional coefficient Value 3.6 0.9 0.1875 0.078 0.67

[0049] The stability-enhancing device is customized according to the size of the ship body. The total length of the electric driving crank and the electric driving connecting rod is m, the length of the electric driving crank is m, and the length of the electric driving connecting rod is m. The distance between the two electric driving cranks on the same side is m, the length of the stability-enhancing appendage is m, the distance between the rotatable support and the bow of the ship is m. The displacement of the two side bodies accounts for no more than 10% of the total displacement, and here , that is, the displacement of a single appendage is 4%, and the displacement volume is about 0.00312m 3 . The ship starts to sail at a speed of no more than 15 kn.

[0050] The stability-enhancing device is installed on the ship body, specifically,Figure 2 The present application provides a schematic view of a ship with a stability augmentation device installed, two symmetrical passive stability augmentation appendages 4 are installed on both sides of the ship body, a wave radar 2 is installed on the bow of the ship body, a posture angle gyroscope 3 is installed at the center of mass position, and a water jet propeller 7 is installed on each side of the stern of the ship body. The appendage 4 is connected to the ship body by two parallel electric connecting rods, and a longitudinal distance sensor 9 and a transverse distance sensor 10 are installed on the appendage 4. The wave radar 2, the gyroscope 3, and the sensors 9 and 10 monitor real-time data, and the real-time data is transmitted to an optimization control module 6 to solve the optimal position of the appendage, and a control signal is transmitted to a power drive module 8 to control the electric drive crank and the electric drive connecting rod. The electric drive crank and the electric drive connecting rod are movably connected through a joint 11, which can realize the transverse and longitudinal movement of the appendage, as shown in Figure 3 .

[0051] Figure 4 The present application provides a schematic view of a ship with a stability augmentation device installed, two symmetrical passive stability augmentation appendages 4 are installed on both sides of the ship body, a wave radar 2 is installed on the bow of the ship body, a posture angle gyroscope 3 is installed at the center of mass position, and a water jet propeller 7 is installed on each side of the stern of the ship body. The appendage 4 is connected to the ship body by two parallel electric connecting rods, and a longitudinal distance sensor 9 and a transverse distance sensor 10 are installed on the appendage 4. The wave radar 2, the gyroscope 3, and the sensors 9 and 10 monitor real-time data, and the real-time data is transmitted to an optimization control module 6 to solve the optimal position of the appendage, and a control signal is transmitted to a power drive module 8 to control the electric drive crank and the electric drive connecting rod. The electric drive crank and the electric drive connecting rod are movably connected through a joint 11, which can realize the transverse and longitudinal movement of the appendage, as shown in

[0052] Step one, the hydrodynamic optimization controller adjusts the position of the two side appendages according to the six degree of freedom motion equation of the ship, and the six degree of freedom motion equation of the ship in the inertial coordinate system is:

[0053]

[0054]

[0055]

[0056]

[0057]

[0058]

[0059] force and moment represent the resultant force and moment of various external forces acting on the ship body, the subscripts H, P, S, W in the formula represent the forces and moments under the conditions of the ship body, the propeller, the appendage and the sea wave environment, I represents the moment of inertia, p, q, r represent the rotational angular velocity of the ship body relative to the x, y, z axes, u, v, w represent the linear velocity of the ship body relative to the x, y, z axes;

[0060] Step two, to avoid the frequent movement of appendages, the state observation method is used to realize the filtering of sea waves, and the high frequency motion of sea wave disturbance is filtered out in the feedback signal; based on the passive theory, a nonlinear state observer is constructed, and the form of the filter is:

[0061]

[0062] wherein is the damping of the notch filter, Generally between 0.01-0.1, , is the cutoff frequency, n is the low frequency disturbance measured by the sea wave radar, and s is the useful signal; the filter of sea wave disturbance is integrated with the optimal control module to improve the control accuracy;

[0063] Step three, after eliminating the external environmental disturbance in the hydrodynamic optimal controller, the longitudinal distance CL and the lateral distance ST of the appendage are adjusted adaptively for the ship body at a certain speed V, and the ship speed is defined as The optimization goal is to meet the double target optimization mode of the minimum resistance of unit displacement and the minimum seakeeping index SKI, and the objective function can be expressed as:

[0064]

[0065]

[0066] Wherein L / B is the length of the ship / beam, and B / T is the beam / draft.

[0067] Step four, in the optimization process, in order to ensure the safe navigation of the ship body, it is necessary to constrain the optimization conditions. The constraint condition is the attitude angle of the ship body, and the threshold value of the pitch angle and the threshold value of the roll angle are set. If Or , stop searching for the optimal solution, and the data is transmitted to the optimal control module by the real-time monitoring module, and the position of the appendage is adjusted according to the calculation formula of the required restoring roll moment And the restoring pitch moment , that is , , wherein Z s is the buoyancy of the appendage.

[0068] Step five, when the ship attitude angle exceeds the safety threshold, the vector jet nozzle adjusts the ship attitude in coordination with the appendage; (1) trim angle adjustment: when the ship trim angle exceeds the safety threshold, the vector jet nozzle is appropriately adjusted up and down to change the direction of water flow to provide thrust, the upward rotation of the vector jet nozzle can realize the "lifting head" of the ship to improve the bow pitch, and the downward rotation of the vector jet nozzle can realize the "sticking head" of the ship to improve the stern pitch; (2) roll angle adjustment: when the ship roll angle exceeds the safety threshold, the directions of the vector jet nozzles on the left and right sides are opposite, respectively providing upward and downward thrust; if the ship tilts to the right side, the vector jet nozzle on the right side provides upward thrust, and the vector jet nozzle on the left side provides downward thrust, forming a roll restoring moment;

[0069] Step six, under the premise of meeting the optimization constraint conditions, the optimal solution of the appendage position at different speeds is obtained by using the multi-objective genetic algorithm multiple iterations according to the optimization objective function; the optimal solution of the Pareto multi-objective genetic algorithm is established according to the superior relationship of the solution, and the decision variable is CL and ST, if the following conditions are met:

[0070]

[0071] Wherein, is the size of the fitness corresponding to the objective function; s and k are the serial numbers of the objective function, and X1 and X2 are CL and ST at different positions of the appendage at a certain speed V; at this time, it is called that X1 can dominate X2, if it is not satisfied, the optimal solution is a set; the optimal solution set is normalized, and the distance from the preset ideal point is used as an evaluation index, and the solution closest to the ideal point is selected as the optimal solution; the solving steps are as follows:

[0072]

[0073] is the difference between the maximum value and the minimum value of the s-th objective in the optimal solution set;

[0074] The minimum value of the s-th objective is represented as: , After normalization, it is represented as: , which represents the distance of each point in the optimal solution set from the ideal point; when takes the minimum value, the corresponding is the optimal position of the appendage, which meets the conditions of minimum resistance and best seakeeping performance at this time, and the ship can also ensure stable and safe navigation at high speed;

[0075] By comparing the simulation results of the roll moment and the pitch moment of the bare hull and the hull with the installed stability-enhancing appendage, it can be concluded that the roll moment of the hull with the installed stability-enhancing appendage is reduced by 15% under four-level sea conditions, and the resistance of the hull after optimization of the appendage position is reduced by about 10%.

[0076] The above detailed description of the specific description, the purpose, technical scheme and beneficial effects of the application are further described in detail, it should be understood that the above description is only a specific embodiment of the application, and is not used to limit the protection scope of the application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A hydrodynamic adaptive control method for high-speed ships to enhance wave resistance and stability, characterized by: Based on the high-speed ship anti-wave stabilization device, the hydrodynamic optimization controller, combined with various sensors installed on the hull, perceives the environment, hull attitude, and speed in real time to solve the problem at different speeds, and drives the stabilization appendages to adjust the hull attitude, thereby achieving the purpose of anti-wave stabilization of high-speed ships. The adaptive hydrodynamic control method for wave resistance and stability enhancement of high-speed ships includes the following steps: Step 1: The hydrodynamic optimization controller adjusts the positions of the appendages on both sides according to the ship's six-degree-of-freedom motion equations. The ship's six-degree-of-freedom motion equations in the inertial coordinate system are expressed as follows: force and torque This represents the resultant force and torque of various external forces acting on the hull. The subscripts H, P, S, and W in the formula represent the forces and torques of the hull, propeller, appendages, and external environmental conditions such as ocean waves, respectively. I represents the moment of inertia, p, q, and r represent the angular velocities of the hull relative to the x, y, and z axes, respectively, and u, v, and w represent the linear velocities of the hull relative to the x, y, and z axes, respectively. Step 2: To avoid frequent movement of the attached object, a state observation method is used to filter the waves, removing high-frequency motion of wave disturbances from the feedback signal; a nonlinear state observer is constructed based on passive theory, and the filter takes the following form: in For notch filter damping, Take a value between 0.01 and 0.

1. , The cutoff frequency, The wave disturbance is measured by the wave radar, where n is the low-frequency disturbance and s is the useful signal. The wave disturbance filter is integrated with the optimization control module to improve the control accuracy. Step 3: After eliminating external environmental interference in the hydrodynamic optimization controller, adaptively adjust the longitudinal distance CL and lateral distance ST of the appendages for a hull at a certain speed V. Here, the hull speed is defined as... The optimization objective is to meet the resistance per unit drainage volume. The dual-objective optimization approach, which minimizes both the minimum seakeeping index (SKI) and the minimum seakeeping performance index (SKI), has the objective function expressed as: Where L / B is the length / breadth of the ship, and B / T is the breadth / draft of the ship; Step 4: To ensure safe navigation of the ship during the optimization process, constraints need to be imposed on the optimization conditions; the constraints are the ship's attitude angles, with a threshold set for the pitch angle. and tilt angle threshold ,like or The search for the optimal solution is stopped, and the monitored data is transmitted to the optimization control module, which determines the required recovery roll moment for the hull. and recovery pitch moment The calculation formula adjusts the position of the attached object, that is... , Z s The buoyancy experienced by the attached object; Step 5: When the hull attitude angle exceeds the threshold, the vector nozzles work in conjunction with the appendages to adjust the hull attitude; Heel adjustment: When the hull heel angle exceeds the threshold, the vector nozzles are adjusted up and down appropriately to change the direction of the water jet to provide thrust. Rotating the vector nozzles upward can make the hull "pitch up" to improve the bow heel, and rotating the vector nozzles downward can make the hull "thrust down" to improve the stern heel; Roll adjustment: When the hull roll angle exceeds the threshold, the vector nozzles on the left and right sides are in opposite directions, providing upward and downward thrust respectively; If the hull is tilting to starboard, the vector nozzle on the right side provides lift downward, and the vector nozzle on the left side sprays water upward to form a roll-restoring moment; Step Six: Under the premise of satisfying the optimization constraints, use a multi-objective genetic algorithm to iterate multiple times according to the optimization objective function to obtain the optimal solution for the appendage position at different speeds; establish the Pareto multi-objective genetic algorithm optimal solution based on the superiority relationship of the solutions, with CL and ST as the decision variables. If the following conditions are met: in, Let be the fitness value corresponding to the objective function; s and k be the indexes of the objective function; X1 and X2 are CL and ST at different positions of the attachment at a certain speed V; at this time, X1 dominates X2, and if this condition is not met, the optimal solution is a set; the optimal solution set is normalized, and the distance from the preset ideal point is used as the evaluation index, and the solution closest to the ideal point is selected as the optimal solution; the solution steps are as follows: It is the difference between the maximum and minimum values ​​of the s-th objective in the optimal solution set; The minimum value of the s-th objective is expressed as: , After normalization, it is expressed as: , representing the distance of each point in the optimal solution set from the ideal point; when When the minimum value is reached, it corresponds to the optimal position for the attachment. At the optimal position, the conditions of minimum resistance and best seakeeping performance are met, and the hull can ensure stable and safe navigation even at high speeds.

2. A high-speed ship wave-resistant and stabilizing device, used to implement the high-speed ship wave-resistant and stabilizing hydrodynamic adaptive control method as described in claim 1, characterized in that: It includes a stabilization appendage, wave radar, attitude angle gyroscope, multi-angle rotatable base, vector waterjet propulsion, power drive module, appendage longitudinal distance sensor, appendage lateral distance sensor, electric drive crank, electric drive connecting rod, and hydrodynamic optimization controller; a vector waterjet propulsion is installed on each of the port and starboard sides of the hull. The vector waterjet propulsion has a vector nozzle and can rotate 360 ​​degrees to actively adjust the thrust vector to form a control surface; by changing the direction of the vector nozzle, the ship can be turned and its attitude adjusted. In addition to controlling left and right turns, it can also adjust thrust up and down. The stabilizing appendages are installed on both sides of the hull and connected to the hull via two parallel electric drive connecting rods and an electric drive crank. The bottom of the electric drive crank is movably connected to the hull via a multi-angle rotating base. The electric drive crank and the electric drive connecting rod are movably connected via joints, which can drive the stabilizing appendages to achieve lateral and longitudinal movements. The vessel is equipped with a wave radar at the bow and an attitude angle gyroscope at the center of gravity. A power drive module is installed at the stern. The stabilization appendages are equipped with longitudinal and lateral distance sensors. The wave radar, gyroscope, and sensors monitor data in real time and transmit the data to the hydrodynamic optimization controller to solve for the optimal position of the appendages. After the optimal position is solved, the control signal is transmitted to the power drive module to change the position of the appendages.

3. The high-speed ship wave-resistant and stabilizing device as described in claim 2, characterized in that: Total length of electric drive crank and electric drive connecting rod The length ratio of the electric drive crank to the electric drive connecting rod is 1:2, and the length of the electric drive crank... Through formula Determine the length of the electric drive link. Through formula Confirmed, among which The width of the ship's hull.

4. The high-speed ship wave-resistant and stabilizing device as described in claim 2, characterized in that: Distance between two electric drive cranks on the same side , length of the stabilizer The distance s1 between the rotating support and the bow is calculated according to the formula: Sure, Captain.

5. The high-speed ship wave-resistant and stabilizing device as described in claim 2, characterized in that: The drainage volume of the stabilizer attachments shall not exceed 10%, and the drainage volume of the stabilizer attachments shall not exceed 10%. According to the formula Confirmed, among which This refers to the ship's displacement.

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