一种高速多体船的纵向减摇预测控制方法

Anti-pitching predictive control method of high-speed multihull

针对高速多体船在航行中纵摇和升沉运动幅度过大,以及减摇附体有严格的输入约束问题,提出一种有限时间观测器和单步预测控制相结合的纵向减摇方法.首先,建立由T型水翼和压浪板作为减摇附体的高速多体船控制模型,分析升沉运动和纵摇运动的耦合性,将控制模型分解为降维的单入单出模型和耦合量2项.其次,设计有限时间扩张观测器在线快速估计纵摇和升沉运动的时变耦合项,实时前馈补偿.在此基础上,针对补偿后的纵摇及升沉的运动模型,提出局部单步预测控制以提高系统的减摇性能,保证减摇附体满足约束.最后,将反馈预测控制量和补偿耦合量进行综合,通过减摇附体制分配矩阵得到T型水翼和压浪板的攻角.通过仿真验证该算法的有效性,结果表明升沉减少40%~50%,纵摇减少50%~65%.

To solve the problems of excessive pitch amplitudes,heave motions and strict input constraints of high speed multihull,the anti-pitching predictive control method was proposed based on a finite time extended state observer for vertical stabilization.The control model was established with T-foil and flap served as anti-pitching appendages.The coupling between heave and pitch was analyzed,and the original model was divided into two parts of single input and single output model of reduced dimension and coupling term.The finite time extended state observer was used to obtain the online estimate of coupling terms and carry out the real time feed forward compensation.Based on the decoupled motion models of pitch and heave,the local one step predictive control method was used to improve the control performance and ensure the input constraints of anti-pitching appendages.The predictive control quantity and the feed forward compensation quantity were integrated,and the attack angles of T-foil and flap were obtained by the anti-pitching control distribution matrix.The results show that the effectiveness of the proposed algorithm is verified by the numerical simulation.The motions of heave and pitch are reduced by about 40%-50%and 50%-65%,respectively.