| In this thesis, hydrofoil catamaran rotation/heeling fuzzy control technology isresearched; the control problem of course and heel angle in the process of hydrofoilcatamaran large-angle turning is focused on. Based on the development status of high-speedcraft and related theoretical knowledge is Anglicized and studied, the installation ofhydrofoil/column wing intelligent control system on the hydrofoil catamaran is proposed toachieve intelligent control on its rotation/heeling motion.First, the overall design scheme of the hydrofoil catamaran rotation/heeling fuzzycontrol system is proposed. the overall structure of hydrofoil/column wing system isAnalyzed; the characteristics and nature of the control object is understund. Andrespectively from two aspects of part and overall, the structure and the principle of thecontrol system is detailed explained, the overall scheme design of the system is completed.Secondly, the hydrodynamic performance of hydrofoil/column wing is analyzed; thecalculation model of hydrofoil and flap lift force and column wing rudder normal force isestablished. On this basis, based on separation type modeling ideas, hydrofoil catamaran4-dof manipulation motion mathematical model is built. the force situation of hydrofoilcatamaran is Analyzed, calculation model of the hull stress, the master control force,environmental disturbance force and the torque caused by these forces is established.Thirdly, according to the actual conditions and control system needs, hydrofoil/columnwing servo system is designed. On the basis of researching the structure theory of servosystem, mainly from transmission’s overall design, servo motor selection and poweramplifier device of choice, the servo system of the overall design is completed.Then, hydrofoil catamaran rotation/heeling fuzzy controller is devised. Based on thefront work, rotation/heeling fuzzy controller is devised by using the fuzzy control theory.According to the different control purpose in the rotary process of hydrofoil catamaran,rotation movement fuzzy controller is divided into heading change fuzzy controller andheading keeping fuzzy controller. According to the different sail conditions of hydrofoilcatamaran, the controller work process is divided into two stages: any horizontal anglecontrol in the process of the course change and the zero horizontal angle control in theprocess of the course keeping. The design process of the controller mainly include: systemanalysis, determination of the fuzzy controller for input/output variables, the structure of the fuzzy controller and the membership function of fuzzy subsets, establish the fuzzy controlrules and commissioning of the controller.Finally, simulation test on the hydrofoil catamaran manipulation motion androtation/heeling fuzzy control system is made. Turning manipulation motion of hydrofoilcatamaran is simulated to verify the effectiveness of the motion model. Rotation/heelingfuzzy control system is established; navigation process of the catamaran under different seacondition is simulated; the changing curve of the relevant sailing state and statistical data isreceived. Through the comparison and analysis of simulation results, the relevantconclusions are obtained and the performance of controller is validated. |
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