Abstract
A ride control system (RCS) based linear quadratic regulator (LQR) and genetic algorithm (GA) design is presented, to reduce the heave, roll and pitch motion (three degrees of freedom motion (3 DOF motion)) of the wave piercing catamarans (WPC) in beam waves. A detailed 3 DOF ride control model which consists of the coupling and decoupling relationships between longitudinal and transverse motion is proposed for the WPC vessel. And the complex hydrodynamic coefficients and disturbances induced by beam waves are analyzed. Moreover, two stern flaps are designed for the system in the way of alternate flapping. In the controller design, the LQR method based on GA method is adopted to reduce the 3 DOF motion of the ship. Depending on the robust search mechanism and global optimum of GA, weighting parameters can be obtained to calculate the desired gain. Finally, the motion reduction and motion sickness incidence (MSI) results demonstrate the feasibility and effectiveness of the proposed controller, and the comfort of passengers and crews can also be improved.
Highlights
Various maritime transport lines, exploitation of ocean resources and military utility could all be satisfied due to the development of the high-performance ships
When the origin of the body-fixed frame is located at the center of gravity of the ship, and the coordinate axes are consistent with the axes of inertia of the ship, neglecting small and higher-order hydrodynamic coefficients, according to the coupling strength between six degrees of freedom motion, the general model formula can be expanded as
@w@p in which terms related to displacements or angles are the hydrostatic restoring coefficients, terms related to velocities are the hydrodynamic damping coefficients and terms related to the accelerations are the fluid inertia coefficients
Summary
Exploitation of ocean resources and military utility could all be satisfied due to the development of the high-performance ships. Liang et al [2, 8, 9] presented the two degrees of freedom (2 DOF) motion (heave and pitch) model of WPC vessel and argued the RCS for the ship based on H1, model predictive and linear quadratic regulator (LQR) control strategies respectively. A ride control system for wave piercing catamarans using two stern flaps with beam seas stabilizers as the actuator of the WPC RCS are used to control the ship’s longitudinal and transverse motion synthetically with special flapping way. The main contribution of this paper is to ensure that the RCS with two stern flaps based on the proposed controller is feasible and effective for the M DOF motion of WPC vessels in beam seas.
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