Abstract
Advanced marine surface crafts, such as SWATHs, catamarans or hovercrafts become more and more popular for a great range of various tasks. They usually operate at much higher speed than conventional ships. Moreover, in the open sea there are a lot of requirements and restrictions concerning the quality of such crafts’ dynamics, especially in case of the wind or waves. This paper considers application of the control law with a special multipurpose structure for autopilot design for amphibious air cushion vehicles. Such control law allows to decompose the autopilot task into simpler optimization subtasks. Efficiency of this approach is shown in the task of stabilizing yaw angle of the air cushion vehicle in the different weather conditions.
Highlights
One of the main goals of creating modern advanced marine crafts is the minimization of the hydrodynamic GUDJ E\ UHGXFWLRQ RI WKH FUDIW¶V KXOO DUHD LQ FRQWDFW ZLWK water
This allows to increaVH FUDIW¶V VSHHG DQG RSHUDWLRQ range, and to reduce fuel consumption
In this paper we focus on the particular type of advanced crafts such as air cushion vehicles (ACVs)
Summary
One of the main goals of creating modern advanced marine crafts is the minimization of the hydrodynamic GUDJ E\ UHGXFWLRQ RI WKH FUDIW¶V KXOO DUHD LQ FRQWDFW ZLWK water. They work well in case of the calm water, but the presence of wind or waves significantly complicate the operation This implies the use of more advanced controller for the autopilot design. The third one is the control signal for the rudders actuators (4) ȟ Ȗp, u ȝz ȣy ȟ In order to solve the stabilization problem, we have to find coefficients ȝ and ȣ of the control signal, matrix G of the asymptotic observer and transfer function F( p) (and, coefficients Į, ȕ and Ȗ of the normal form) of the corrector. Each of them are usually found through the solution of some optimization problem providing desired quality of the autopilot action
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