Motion Analysis And Control Design Of High Speed Planing Craft

Compared with other types of ships,high-speed planing boats are characterized by speed and flexibility,which makes high-speed planing boats have an irreplaceable role in certain characteristics,including military and civilian.At high speeds,the gliding boat only has a small portion of the bottom of the boat in contact with the water surface,which greatly reduces resistance.It is also because of its speed and light weight,and the control difficulty is relatively larger.Moreover,in the sea environment where it sails,the external disturbance is very complicated and difficult to predict,and it is also a problem that needs to be solved.In view of the above problems,this paper controls the design of the course controller of the planing craft.The motion analysis of the planing craft needs to be carried out in the inertial coordinate system and attached coordinate system.The relationship between two coordinate systems is given in this paper,and the kinematic equation and dynamic equation of the planing craft are derived.Designing an accurate planing boat model is a necessary prerequisite for designing a controller.The development of CFD numerical simulation software makes the model parameters no longer rely solely on physical experiments and empirical formula estimation.It is an accurate and convenient method to set parameters in the computer for simulation experiments.In this paper,the curves of the force and moment of the planing craft are fitted by simulating the three-way motion of the gliding,pure sway and pure swaying of the planing craft,and the required hydrodynamic derivative is obtained.The interaction between the planing craft,the propellers and the ruddesr are described,and the relevant model is established after considering the compensation.The lift,damping and restoring forces of the planing craft are introduced.Consider the environmental disturbance in the actual situation and build a wind disturbance model.Considering that this paper mainly studies the heading control of the planing craft,ignoring its heave and pitch motion,the mathematical model of the four-degree-of-freedom motion of the planing craft is established.The model is implemented in MATLAB and the model is validated under a variety of conditions.There are a variety of taxiing course controllers.The classic PID heading control is simple and practical,and the PID control based on RBF neural network designed on the basis of it also has a good effect.The model prediction developed from practice has characteristics of online scrolling optimization.The planing controller of the planing boat based on this algorithm can reach the steady state more quickly and has high research value.Analytical model predictive control is predictive control over continuous time,with betterglobality.For nonlinear systems,higher order expansion can be more accurately converted to linear systems.The gliding boat heading controller based on the analytical model prediction designed in this paper responds more quickly to the heading command and can accurately track the output expected value.This algorithm has very good control effect on nonlinear systems and can be applied to many practical engineering problems.Interference is an unavoidable problem in control research.The interference experienced by the planing craft when sailing on the surface of the sea is very complicated,and it is very difficult to model it.This paper introduces the disturbance observer and uses it to estimate the interference and then apply it to the controller based on the analytical model prediction.By adding random interference to simulate,it is proved to be robust to random interference.This has practical implications for all systems that need to suppress interference.