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| Anti-pitching predictive control method of high-speed multihull |
| 1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, Heilongjiang 150001, China |
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Abstract To solve the problems of excessive pitch amplitudes, heave motions and strict input constraints of high speed multihull, the anti-pitching predictive control method was proposed based on a finite time extended state observer for vertical stabilization. The control model was established with T-foil and flap served as anti-pitching appendages. The coupling between heave and pitch was analyzed, and the original model was divided into two parts of single input and single output model of reduced dimension and coupling term. The finite time extended state observer was used to obtain the online estimate of coupling terms and carry out the real time feed forward compensation. Based on the decoupled motion models of pitch and heave, the local one step predictive control method was used to improve the control performance and ensure the input constraints of anti-pitching appendages. The predictive control quantity and the feed forward compensation quantity were integrated, and the attack angles of T-foil and flap were obtained by the anti-pitching control distribution matrix. The results show that the effectiveness of the proposed algorithm is verified by the numerical simulation. The motions of heave and pitch are reduced by about 40%-50% and 50%-65%, respectively.
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Received: 09 December 2020
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2022, Vol. 43 
