An Analytical Predictive Control Anti-pitching Method for a High-speed Multi-hulled Vessel

doi:10.3969/j.issn.1000-1093.2021.09.017

Abstract

Abstract: A fast analytic predictive control anti-pitching method is proposed to reduce the amplitudes of heaving and pitching changes of high-speed multi-hulled vessel and improve the stability of hull vertical motion.A vertical motion model is established for high-speed multi-hulled vessel with T-foil and flap severed as anti-pitching appendages，and the strong coupling of heaving/pitching motions and model uncertainty are analyzed. With the establishment of objective function and terminal equality constraint of continuous predictive control，the first-order Euler model with error feedback correction is used to predict the heaving/pitching motions，thus improving the accuracy and anti-pitching control performance of prediction model. On this basis，the numerical integration method and optimal quadratic programming theory are used to obtain the analytical predictive control law for vertical stabilization of high-speed multi-hulled vessel，thus significantly reducing the complexity of online optimization.The uniform boundedness of the closed-loop system is theoretically proved based on the Lyapunov theory. The anti-pitching performances of the analytical predictive control method and other generalized predictive control methods are compared through simulation，and the effectiveness of the proposed algorithm is verified through experiment.

Key words: high-speedmulti-hulledvessel, anti-pitching, analyticalpredictivecontrol, errorfeedbackcorrection

CLC Number:

ZHANG Jun， WEN Hao， LIU Zhilin， LI Guosheng. An Analytical Predictive Control Anti-pitching Method for a High-speed Multi-hulled Vessel[J]. Acta Armamentarii, 2021, 42(9): 1962-1971.

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