Single-step predictive control stabilization method for high-speed multi-hull ship

Abstract

The invention provides a single-step predictive control stabilization method for a high-speed multi-hull ship. The method comprises the following steps that a coupled vertical motion model of a multi-hull ship is established; mathematical transformation is conducted on the coupled vertical motion model to obtain a single-input single-output decoupling heaving and pitching motion model; a finite time observer is designed, a coupling item of heaving motion and pitching motion of the multi-hull ship is estimated on line, and the stabilization compensation amount is obtained; a single-step predictive control law is designed, and the stabilization feedback control amount of heaving motion and pitching motion is calculated; and the compensation amount and the feedback control amount are added, and the control attack angle of a T-shaped wing and a wave suppression plate is obtained through inverse operation of a control distribution matrix of a stabilization appendage. According to the invention, heaving and pitching of the multi-hull ship in motion are obviously reduced. The predictive control method with a finite time expansion observer is applied to longitudinal stabilization of a high-speed multi-hull ship. The method is suitable for a multi-interference and high-ship-speed marine navigation environment, the influence of sea waves on the stability of the multi-hull ship can be effectively reduced, and the performance of the multi-hull ship is improved.

Description

technical field [0001] The invention relates to a single-step predictive control anti-rolling method, in particular to a single-step predictive control anti-rolling method for a high-speed multi-hull ship, belonging to the field of high-speed multi-hull ship longitudinal motion anti-rolling control. Background technique [0002] High-speed multihull ships have good lateral stability, seakeeping and maneuverability, and have a wide range of applications. However, its unique linearity and structure lead to excessive pitch and heave during navigation, which seriously affects its performance, so it is particularly important to suppress its heave and pitch. [0003] At present, most multihull ships use T-shaped wings and wave suppressors as anti-rolling appendages, and design reasonable control strategies for anti-rolling control. [0004] Affected by different sea conditions and hull motion states encountered in actual navigation, the motion of multihull ships is relatively com...

AI Technical Summary

Problems solved by technology

[0005] Traditional anti-rolling control adopts pitching and heave channels to be separated and then controlled, and PD anti-rolling control method is designed, but it needs a lot of time to debug parameters offline, the robustness is weak, and the anti-rolling effect is average

[0006] On the other hand, the optimal control of modern control theory has poor robustness, and the chattering phenomenon exists in sliding mode control, resulting in limited anti-rolling performance, poor self-adaptive ability, and limited application range.

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