Numerical and experimental studies on a predictive control approach for pitch stabilization in heading waves

The vertical movements of a trimaran, which can produce a vertical acceleration, always make people feel seasickness and cause equipment damage on the board. This paper presents a method of a trimaran vertical stabilization control. First, the trimaran mathematical equation is obtained by the numerical simulation and verified by the trimaran experiment in the water tank. Then, the vertical stabilization appendages, including T-foil and flap, are designed and installed at the bottom of the trimaran. Second, an active controller of the appendages is designed and a decoupling method is applied to decouple T-foil and flap, the attack angles of T-foil and flap are obtained in real-time, and the mathematical simulation verified the effect of the decoupling method. Finally, every hardware parts are selected and composed, then, the hardware of the control system is realized and installed on the trimaran, in water tank experiment, the controller was verified in water tank experiment and the experiment results show that it has a good vertical stabilization effect for the trimaran.

show abstract

“…In [8], active fins are used for a ship heave and pitch reduction, and verified the effect by numerical simulation and experiment.…”

Section: Introductionmentioning

confidence: 95%

A Method of a Trimaran Vertical Movements Reduction Control and Hardware Realization

2019

View full text Add to dashboard Cite

show abstract

“…Owing to the strong-coupling nonlinear dynamics, it is difficult to design anti-pitching control directly based on the nonlinear dynamics. Multihulls are newly-developed ships and only a few anti-pitching controllers were proposed for multihulls based on feedback linearization or linearized models [6][7][8][9][10][11]. Xi and Sun designed a feedback -linearization-based anti-pitching controller in [6].…”

Section: Introductionmentioning

confidence: 99%

“…Since real-time matrix inversions are required and the feedback linearization method is sensitive to parameter variations, the proposed anti-pithing controller needs high computational complexity and has limited control robustness. In [7][8][9][10][11], anti-pitching controllers were designed based on linearized time-invariant/time-varying dynamics. Referring to the control method proposed by Cruz et al in [7], the heave and pitch motions were greatly limited by a transfer function-based PD controller, where the PD parameters were obtained through solving a complicated nonlinear optimization.…”

Section: Introductionmentioning

confidence: 99%

“…The control robustness is improved by the H∞ controller, but the calculation complexity in online solving of linear matrix inequalities limits the controller's application in the high-speed multihull. Huang et al [11] proposed a predictive pitching stabilization controller that consists of a short-term predictor, a hydrodynamic force estimator and an attack angle allocator. Since the control strategy is designed in an open-loop control structure, its anti-pitching performance is very limited.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust decoupled anti-pitching control of a high-speed multihull

et al. 2021

View full text Add to dashboard Cite

Since large heave and pitch motions of a high-speed multihull seriously affect the navigability of the ship, it is significant to design the effective anti-pitching control for the multihull. However, the existing anti-pitching controllers are all designed based on deterministic dynamics models and have disadvantages of low control robustness, high dependence on experience, high complexity and low anti-pitching performance, such that the applicability and effectiveness of the controllers can be severely deteriorated. In this paper, we propose a robust-decoupled anti-pitching controller composed of a proportional-differential (PD) control term and an extended state observer (ESO)-based uncertainty compensation term. Compared with the related results, the contributions of the proposed approach include: (1) the PD control gains are designed using the equivalent noise bandwidth theory based on the stochastic characteristics of the heave/pitch motions and (2) the control robustness is effectively improved by the ESO-based compensation. The stability of the closed-loop control system is proved by theoretical analysis. The effectiveness of the proposed algorithm has been verified by simulations and experiments in which the heave and pitch are reduced by 20-35% and 40-50%, respectively.

show abstract

“…[2][3][4] Likewise, in the vertical motion reduction of a ship, the appendages were generally selected as fin, T-foil, flapping foil, and trim tab. [5][6][7][8][9] Due to the particularity of the structure and the requirement to reduce vertical motion, some commonly used appendages, such as antiroll tank and fin stabilizer, are not suitable for a trimaran. To reduce the vertical motion, it is more suitable to install appendages at the bow and aft because a trimaran is relatively long and slender.…”

Section: Introductionmentioning

confidence: 99%

Study on vertical motion reduction of a trimaran based on collaborative controlled appendages

Liu

Zheng

Guo-sheng

et al. 2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

In recent years, the trimaran as a novel ship has been greatly developed. The subsequent large vertical motion needs to be studied and resolved. In this article, an experimental study for a trimaran vertical stabilization control is carried out. Three modes including the bare trimaran (the trimaran without appendages, the trimaran with fixed appendages, and the trimaran with controlled appendages) are performed through model tests in a towing tank. The model tests are performed in regular waves. The range of wave period is 2.0–4.0 s, and the speed of the carriage is 2.93 and 6.51 m/s. The results of the three modes show the fixed appendages and the actively controlled appendages are all effective for the vertical motion reduction of the trimaran. Moreover, the controlled appendages are more effective for the vertical stability performance of the trimaran.

show abstract

Numerical and experimental studies on a predictive control approach for pitch stabilization in heading waves

Cited by 13 publications

References 17 publications

A Method of a Trimaran Vertical Movements Reduction Control and Hardware Realization

A Method of a Trimaran Vertical Movements Reduction Control and Hardware Realization

Robust decoupled anti-pitching control of a high-speed multihull

Study on vertical motion reduction of a trimaran based on collaborative controlled appendages

Contact Info

Product

Resources

About