Trimaran anti-pitching decoupling controller and design method

Abstract

The invention discloses a trimaran anti-pitching decoupling controller and design method, belonging to the technical field of ship control. The trimaran anti-pitching decoupling controller includes a trimaran, a first PD controller, a second PD controller, a decoupling compensator, a first amplitude limit link, a second amplitude limit link, a heaving measurement module and a pitching measurement module. The closed-loop negative feedback control of the system is carried out to reduce the influence of the anti-pitching floating bodies, namely, a T-wing and a spray strip, on the heaving and pitching motion of the trimaran. According to the T-wing and the spray strip theoretical angle output by the decoupling controller, the lifting and lifting moment of the T-wing and the spray strip can be controlled to offset the wave force and wave moment of the ocean wave, so that the heaving and pitching can be reduced. For the trimaran anti-pitching decoupling control problem, a decoupling method based on the feedforward compensation is proposed, the decoupling of the T-wing and the spray strip, the two anti-pitching floating bodies can be realized, the performance in the respective effect area can be improved, the mutual interference control effect can be prevented, and the anti-pitching effect is optimal.

Description

technical field [0001] The invention belongs to the technical field of ship control, and in particular relates to a trimaran pitch reduction and decoupling controller and a design method. Background technique [0002] With the continuous development of science and technology, and the requirements of various countries for marine strategic plans, the development of high-performance ships has attracted more and more attention. The trimaran has excellent characteristics. It has a larger internal space and deck area, which can provide operators with more space to strengthen internal facilities and load advanced electronic equipment. Because of its symmetrical structure, better lateral stability, and good seaworthiness, it can increase the size of the ship without affecting the speed of the ship, so the research and development of the trimaran has also attracted people's attention. [0003] For a high-speed multihull ship, it operates at high speed most of the time, and the sever...

AI Technical Summary

Problems solved by technology

However, in the decoupling design method, the compensation array relies heavily on the precise mathematical model of the controlled object, and the controlled process is usually time-varying and nonlinear, so a linear, constant decoupling compensation network occurs at the operating point of the controlled process When changing, due to lack of adaptability, it is difficult to guarantee the quality of control, and even lead to system instability

[0006] The literature Fast Ships Models for Sea keeping Improvement Studies Using Flapsand T-foil introduced a method of decoupling control, but the shortcoming is that the input and output variables cannot be completely decoupled, so looking for a method that can convert multiple variables into a single The variable control trimaran pitch reduction and decoupling method is an urgent problem to be solved at present

[0007] Currently commonly used trimaran pitch reduction and decoupling controllers are mainly divided into two parts, the first part is the controller, and the second part is the decoupling compensator; the controller generally uses a PID controller, but this controller will amplify Noise link, and the structure is relatively cumbersome; the decoupling compensator is mainly used to remove the coupling between system variables. Coupling effect, and the structure is simple, so the traditional decoupling method is generally used

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