Research On Semi-physical Simulation System For Vertical Motion Control Of Multibody Boat

With the development and progress of society,human activities more to the vast ocean development,high-performance multi-body boat as the most important means of transport on the ocean,reflecting the increasingly important role.However,the multi-body boat in the high-speed voyage will appear pitching,dying,and deck waves and other undesirable phenomena,therefore,practical and efficient anti-shake technology has become a hot research.At present,the most practical way to shake Vertical movement of the ship is to install the bottom of T-foilsAs semi-physical simulation is a technology that can support us in the relatively small laboratory to complete the ship in the sea motion simulation technology,which is usually composed of computer simulation and physical simulation of two parts.Through the industrial computer simulation software,control the physical part,making the simulation results more reliable.The research object of this paper is about the Vertical movement of the ship with T-foil,The mathematical model of ship Vertical motion and the state equation which can be used in controller design are established and the practical semi-physical simulation system is designed.The controller is designed by using MATLAB / simulink software platform,and the human-computer interaction of semi-physical simulation system is realized by VC ++ language.The main contents are:First,to ensure that the expected function can be achieved.on the basis of taking into account the reality can be achieved as well as the convenience of the entire system of the various parts of a detailed design,the content involved semi-physical simulation system of motion simulation system,the implementation of systems,control systems.In the motion simulation system part of the main contents are: the entire simulation system structure design and design of various parts of the technical indicators.The control system design includes functional module division and formulation of control flow.Second,the semi-physical simulation system hardware implementation,including the selection and installation of various components.Third,the control system to achieve programming,which mainly includes three parts: computer interaction design;data acquisition and processing system design;LQR-based T-foils angle of attack controller design and fuzzy PID based hydraulic system stroke control Device design.Combined with these design requirements,taking into account the actual installation of the principles and the actual size of the entire system components of the selection and installation,The problems in the debugging were studied in detail,to achieve the physical structure of the entire system,combined with the actual equipment on the data acquisition and processing systems,sensors and the entire system of the operation of the field debugging.And through the actual simulation experiments,verify the semi-physical system operability,as well as the design of the two control algorithm control effect.Finally,based on the shortcomings found in the process of the paper,and the design of the simulation method of the multi-body ship,the research direction of the simulation method of multi-body ship is put forward,and some feasible ideas are put forward.