|
|
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 |
|
|
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.
|
Received: 09 December 2020
|
|
|
|
[1] |
KUCUKDEMIRAL I B,CAKICI F, YAZICI H. A model predictive vertical motion control of a passenger ship[J]. Ocean Engineering, 2019, 186:1-27.
|
[2] |
孙一方,宗智,姜宜辰.船舶在波浪上纵向运动与控制研究综述[J].中国舰船研究,2020,15(1):1-12,47.
|
|
SUN Y F, ZONG Z, JIANG Y C. Review of longitudinal motion and controls of ships on waves[J]. Chinese Journal of Ship Research, 2020, 15(1): 1-12, 47.(in Chinese)
|
[3] |
张军, 刘志林, 戴小康, 等.一种高速多体船的有限时间减纵摇控制方法[J]. 武汉理工大学学报(交通科学与工程版), 2021, 45(3):512-516,523.
|
|
ZHANG J, LIU Z L, DAI X K, et al. Finite-time pitch reduction control method for high-speed multi-hull ship[J]. Journal of Wuhan University of Technology (Transportation Science & Engineering), 2021,45(3):512-516,523.(in Chinese)
|
[4] |
CRUZ J M D L, ARANDA J, GIRON-SIERRA J M, et al. Improving the comfort of a fast ferry[J]. IEEE Control Systems Magazine, 2004(4):47-60.
|
[5] |
张松涛, 孙明晓, 梁利华, 等. 穿浪双体船T型水翼状态反馈 H∞ 控制器设计[J]. 舰船科学技术, 2014, 36 (10): 78-82.
|
|
ZHANG S T, SUN M X, LIANG L H,et al. A contro-ller design using state-feedback H∞ algorithm for T-foil of WPC [J]. Ship Science and Technology, 2014, 36 (10): 78-82. (in Chinese)
|
[6] |
关劲, 宋超, 张松涛. 基于 LQG 的穿浪双体船垂向运动控制系统设计[J]. 舰船科学技术, 2014, 36 (8): 113-117.
|
|
GUAN J, SONG C, ZHANG S T. A ride control system of catamaran using LQG for improving vertical motion[J].Ship Science and Technology, 2014, 36 (8): 113-117.(in Chinese)
|
[7] |
ZHANG J, SUN T R, LIU Z L. Robust model predictive control for path-following of underactuated surface vessels with roll constraints[J]. Ocean Engineering, 2017,143:125-132.
|
[8] |
袁宇鹏, 胡杨, 李军, 等.基于动态矩阵控制的自主移动机器人模型预测控制方法研究[J]. 重庆邮电大学学报(自然科学版), 2018, 30 (4): 537-543.
|
|
YUAN Y P, HU Y, LI J,et al. Model predictive control strategy based on dynamic matrix control for robot[J]. Journal of Chongqing University of Posts and Teleco-mmunications(Natural Science Edition),2018,30 (4): 537-543.(in Chinese)
|
[9] |
李俊玲, 张树功. 时变不确定系统的变时域鲁棒模型预测控制[J]. 吉林大学学报(理学版), 2008, 46 (6): 1007-1012.
|
|
LI J L, ZHANG S G. Variable horizon robust model predictive control for time-varying uncertain systems[J]. Journal of Jilin University(Science Edition), 2008, 46 (6): 1007-1012.(in Chinese)
|
[10] |
CHEN W H, YANG J, GUO L,et al. Disturbance-observer-based control and related methods: an overview[J]. IEEE Transactions on Industrial Electronics, 2016, 63(2):1083-1095.
|
[11] |
OBERDIECK R, DIANGELAKIS N A, PISTIKOPOULOS E N. Explicit model predictive control:a connec-ted graph approach[J]. Automatica, 2017, 76:103-112.
|
[12] |
WU F. LMI-based robust model predictive control and its application to an industrial CSTR problem[J]. Journal of Process Control, 2001, 11(6): 649-659.
|
[13] |
PARK C E, KWON N K, PARK P G. Stabilization condition of one-step receding horizon control for discrete-time linear systems with model uncertainties [C]∥Proceedings of 2017 14th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 2017:525-528.
|
|
|
|