Abstract
This work presents optimal linear quadratic regulator (LQR) based on genetic algorithm (GA) to solve the two degrees of freedom (2 DoF) motion control problem in head seas for wave piercing catamarans (WPC). The proposed LQR based GA control strategy is to select optimal weighting matrices (Q and R). The seakeeping performance of WPC based on proposed algorithm is challenged because of multi-input multi-output (MIMO) system of uncertain coefficient problems. Besides the kinematical constraint problems of WPC, the external conditions must be considered, like the sea disturbance and the actuators (a T-foil and two flaps) control. Moreover, this paper describes the MATLAB and LabVIEW software plats to simulate the reduction effects of WPC. Finally, the real-time (RT) NI CompactRIO embedded controller is selected to test the effectiveness of the actuators based on proposed techniques. In conclusion, simulation and experimental results prove the correctness of the proposed algorithm. The percentage of heave and pitch reductions are more than 18% in different high speeds and bad sea conditions. And the results also verify the feasibility of NI CompactRIO embedded controller.
Highlights
After the middle of 20th century, with the development of various maritime transport lines, the exploitation of ocean resources and military utility, the requirements of ship performance are changing
wave piercing catamarans (WPC) is characterized in that (i) The thin demihulls help to reduce the wave resistance, (ii) The width of demi-hulls accounts for 15%*20% of the ship beam, which is more conducive to the high-speed navigation of WPC
The main contribution of this paper are building the MATLAB and LabVIEW software plats to simulate the reduction effects of WPC and selecting the real-time (RT) National Instruments (NI) CompactRIO embedded controller to test the effectiveness of the actuators based on proposed techniques
Summary
After the middle of 20th century, with the development of various maritime transport lines, the exploitation of ocean resources and military utility, the requirements of ship performance are changing. Comprehensive software operation demonstration platform has not been built It has many important advantages (i.e. the operation time can be reduced to a few seconds) for testing purposes, when a real experiment is expensive and potentially dangerous. The optimal linear quadratic regulator (LQR) based on genetic algorithm (GA) is designed to solve the two degrees of freedom (2 DoF) motion control problem in head seas for WPC. The main contribution of this paper are building the MATLAB and LabVIEW software plats to simulate the reduction effects of WPC and selecting the real-time (RT) NI CompactRIO embedded controller to test the effectiveness of the actuators based on proposed techniques. A software platform for WPC motion control using LQR-GA method the experimental results and discussions throughout software implementations.
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