Pitching and heaving proportion-differential control method for wave-piercing catamaran

Abstract

The invention discloses a pitching and heaving proportion-differential control method for a wave-piercing catamaran. Through the method, the pitching angle and the heaving height of the wave-piercing catamaran can be automatically controlled through feedback of a proportion-differential gain control matrix, and then the navigability of the wave-piercing catamaran is improved. According to the method, the gain control matrix can be directly mapped to scaling factors of the rotation angle of a front executing mechanism and the rotation angle of a rear executing mechanism relative to the pitching angle, the pitching angular speed, the heaving height and the heaving rate of a hull, so that the pitching angle and the heaving height of the wave-piercing catamaran are changed by controlling the attack angles of executing components. Through the algorithm, the heaving range of the wave-piercing catamaran can be reduced by 20 percent to 30 percent or so, and the pitching range of the wave-piercing catamaran can be reduced by 30 percent to 50 percent just through simple programming and the executing mechanisms, and consequently the comfort and the navigability of the wave-piercing catamaran at a high navigational speed can be achieved at a low cost.

Description

technical field [0001] The invention relates to the technical field of automatic control of ship navigation, in particular to a proportional-derivative control method for pitch and heave of a wave-piercing catamaran. Background technique [0002] The wave piercing catamaran is a new type of high-speed catamaran in recent years. It has the characteristics of high speed, good seaworthiness, shallow draft, excellent seakeeping performance, flexible maneuvering, spacious deck surface, and convenient use. It has a good simulation prospect. However, in operation practice, the wave piercing catamaran has also exposed the problems of pitch response, no obvious improvement in vertical heave, and high seasickness rate under high-speed conditions. These problems can be improved by adding a heading attitude control system. [0003] At present, a variety of automatic control methods have been proposed for the navigation attitude control of small waterplane area catamarans and high-speed ...

AI Technical Summary

Problems solved by technology

However, in operation practice, the wave piercing catamaran has also exposed the problems of pitch response, no obvious improvement in vertical heave, and high seasickness rate under high-speed conditions. These problems can be improved by adding a heading attitude control system

[0003] At present, a variety of automatic control methods have been proposed for the navigation attitude control of small waterplane area catamarans and high-speed hydrofoil catamarans in China. The hydrodynamic characteristics of catamarans are different, and the navigation self-control method is mainly optimized for the longitudinal instability moment of small waterplane area catamarans or the instability of high-speed hydrofoil catamarans during the take-off phase. It is complex and not ideal for improving the pitch and heave characteristics of the wave-piercing catamaran during its navigation; at the same time, some researchers have proposed a variety of anti-rolling methods for ordinary displacement ships, mainly by reducing the fins. The method is relatively simple, but it is not ideal for improving the pitch and heave characteristics of semi-displacement WPCs; at present, there is no automatic system for pitching and heaving during the navigation of WPCs in China. Control Method

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