A single-step predictive control anti-rolling method for high-speed multihull ships

Abstract

The invention provides a single-step predictive control anti-rolling method for a high-speed multi-hull ship, which includes the following steps: establishing a coupled vertical motion model of the multi-hull ship; performing mathematical transformation on the coupled vertical motion model to obtain a single-input and single-output Decouple the heave and pitch motion models; design a finite-time observer, estimate the coupled items of the multihull ship heave motion and pitch motion online, and obtain the amount of stabilization compensation; design a single-step predictive control law to solve the heave motion and the anti-rolling feedback control amount of the pitch motion; add the compensation amount and the feedback control amount, and obtain the control angle of attack of the T-shaped wing and the wave control plate through the inverse operation of the control distribution matrix of the anti-rolling attachment. The invention obviously reduces the heave and pitch of the multihull ship in motion. The application of the predictive control method with a finite time dilation observer to the longitudinal stabilization of high-speed multihull ships is realized. It is suitable for the sea navigation environment with multiple disturbances and high ship speed. It can effectively reduce the impact of waves on the stability of multihull ships and improve the performance of multihull ships.

Description

technical field [0001] The invention relates to a single-step predictive control anti-roll method, in particular to a single-step predictive control anti-roll method for high-speed multi-hull ships, and belongs to the field of high-speed multi-hull ship longitudinal motion anti-roll control. Background technique [0002] The high-speed multihull has good lateral stability, seakeeping, maneuverability, and has a wide range of applications. However, its unique linearity and structure lead to excessive pitch and heave amplitude during sailing, which seriously affects its performance. Therefore, it is particularly important to restrain its heave and pitch. [0003] At present, most multi-hull ships use T-shaped wings and wave plates as anti-rolling appendages, and a reasonable control strategy is designed for anti-rolling control. [0004] Affected by different sea conditions and hull motions encountered in actual sailing, the motion of multihulls is relatively complex, and its...

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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