Numerical Simulation of Rolling Stability of Flight Vehicle

Large lift-to-drag ratio,high maneuverability,and good controllability are the basic performance for flight vehicles.Studying the rolling stability problems of a high lift-to-drag ratio aircraft is of great significance to the safety and control in maneuvering flight.The research on the static stability in the rolling direction of a HTV-2 like shape under a typical Mach number and attack angle was carried out.Similarly,by using Euler,laminar,turbulence and transition models,investigations of the dynamic stability in a single degree of freedom rolling motion of the same shape structure were executed.The numerical results show that the dynamic derivative of Euler is the largest,and the dynamic derivatives resulting from laminar,turbulence,and transition models are not much different.

Rolling Stability Enhancement via Balancing Tail for a Water-running Robot

Running on water produces very energy-efficient and fast motion in water environments. Many studies have been performed to develop bio-inspired water-running robots. To achieve good performance, the lifting force is very important for a robot to be able to run on water. The loss of lifting force is associated with the rolling stability of the robot on water. The purpose of this study is to improve the rolling stability of a water-running robot through the periodic motion of a balancing tail. Kinematic analysis was performed to calculate the motions of the legs and the tail, and static analysis was performed to calculate the balancing effect of the tail motion. A numerical model was suggested to determine the dynamic performance of the robotic platform based on kinematic and static results. A simulation based on the numerical model was performed, and the results were compared with empirical data from a robot prototype. The simulation results are in good agreement with the experimental data in terms of rolling stability The lifting force has only a slight effect. The results of this study can be used as a guideline for designing a stable water-running robot.

Roll stability catastrophe mechanism of a flooded ship on regular sea waves

Based on a typical one-free-degree ship roll motion equation, the cusp catastrophe model is built including the bifurca- tion set equation, splitting factor ＇u＇ and regular factor ＇v＇, where both ＇u＇ and ＇v＇ are further expressed with typical flooded ship parameters. Then, the roll catastrophe mechanism is analyzed mainly by means of ＇u＇, under the given parameters of a typical trawler boat. The aim of this research is to reveal the mutagenic mechanism of the roll stability and provide a reference for improving ship roll stability.

The Roll Stability Analysis of Semi-Trailer Based on the Wheel Force

It is different for the liquid tank semi-trailer to keep roll stability during turning or emergency voidance,and that may cause serious accidents.Although the scholars did lots of research about the roll stability of liquid tank semi-trailer in theory by calculating and simulation,how to make an effective early warning of rollover is still unsolved in practice.The reasons include the complex driving condition and the difficulty of the vehicle parameter obtaining.The feasible method used currently is evaluating the roll stability of a liquid tank semi-trailer by the lateral acceleration or the attitude of the vehicle.Unfortunately,the lateral acceleration is more useful for sideslip rather than rollover,and the attitude is a kind of posterior way,which means it is hard to take measures to cope with the rollover accident when the attitude exceeds the safety threshold.Considering the movement of the vehicle is totally caused by the wheel force,the rollover could also be predicted by the changing of the wheel force.Therefore,in this paper,we developed a method to analyze the roll stability by the vertical wheel force.A thorough experiment environment is established,and the effectiveness of the proposed method is verified in real driving conditions.

Robust Control Based on Feedback Linearization for Roll Stabilizing of Autonomous Underwater Vehicle Under Wave Disturbances

In the case of Autonomous Underwater Vehicle （AUV） navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Robust control is applied, which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer. Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system. For parameter uncertainty of motion model, the controller is designed with mixed-sensitivity method based on H-infinity robust control theory. Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.

Energy Optimization of the Fin/Rudder Roll Stabilization System Based on the Multi-objective Genetic Algorithm （MOGA）

Energy optimization is one of the key problems for ship roll reduction systems in the last decade. According to the nonlinear characteristics of ship motion, the four degrees of freedom nonlinear model of Fin/Rudder roll stabilization can be established. This paper analyzes energy consumption caused by overcoming the resistance and the yaw, which is added to the fin/rudder roll stabilization system as new performance index. In order to achieve the purpose of the roll reduction, ship course keeping and energy optimization, the self-tuning PID controller based on the multi-objective genetic algorithm （MOGA） method is used to optimize performance index. In addition, random weight coefficient is adopted to build a multi-objective genetic algorithm optimization model. The objective function is improved so that the objective function can be normalized to a constant level. Simulation results showed that the control method based on MOGA, compared with the traditional control method, not only improves the efficiency of roll stabilization and yaw control precision, but also optimizes the energy of the system. The proposed methodology can get a better performance at different sea states.

Design and Comparison of H∞/H2 Controllers for Frigate Rudder Roll Stabilization

Roll motion of ships can be distinguished in two parts:an unavoidable part due to their natural movement while turning and an unwanted and avoidable part that is due to encounter with waves and rough seas in general.For the attenuation of the unwanted part of roll motion,ways have been developed such as addition of controllable fins and changes in shape.This paper investigates the effectiveness of augmenting the rudder used for rejecting part of the unwanted roll,while maintaining steering and course changing ability.For this purpose,a controller is designed,which acts through intentional superposition of fast,compared with course change,movements of rudder,in order to attenuate the high-frequency roll effects from encountering rough seas.The results obtained by simulation to exogenous disturbance support the conclusion that the roll stabilization for displacement can be effective at least when displacement hull vessels are considered.Moreover,robust stability and performance is verified for the proposed control scheme over the entire operating range of interest.

The Applicability of Hydrofoils as a Ship Control Device

Centrifugal forces are commonly created when ships turn, which may cause a ship to capsize in a critical situation. A mathematical model has been developed to optimize the stability coefficients for ship, with the aim to prevent capsizing and to increase ship maneuverability in high-speed water craft. This model can be used to develop algorithms for control system improvement. The mathematical model presented in this paper optimized the use of multipurpose hydrofoils to reduce heeling and the trimming moment, maintaining an upright ship’s position and lessening the resistance via transverse force. Conventionally, the trimming and heeling of a ship are controlled using ballast water;however, under variable sea conditions it is sometimes difficult to control a ship’s motion using ballast water. In this case, a hydrofoil would be more stable and maneuverable than a ballast tank controlled vessel. A movable hydrofoil could theoretically be adapted from moveable aerofoil technology. This study proves the merit of further investigation into this possibility.

A Robust Roll Stabilization Controller with Aerodynamic Disturbance and Actuator Failure Consideration

Combining adaptive theory with an advanced second-order sliding mode control algorithm,a roll stabilization controller with aerodynamic disturbance and actuator failure consideration for spinning flight vehicles is proposed in this paper.The presented controller is summarized as an“observer-controller”system.More specifically,an adaptive secondorder sliding mode observer is presented to select the proper design parameters and estimate the knowledge of aerodynamic disturbance and actuator failure,while the proposed roll stabilization control scheme can drive both roll angle and rotation rate smoothly converge to the desired value.Theoretical analysis and numerical simulation results demonstrate the effectiveness of the proposed controller.

Design of Fin-propeller Test Set-up and Analysis of Roll Stabilization Ability

Presents the fin-propeller test set-up to solve the problem of roll stabilization with ships in full speed range, withwhich, tests were run in water rank for acquisition of data, and concludes from data acquired that the fin-propeller test set-up produces more lift than simple fin, and provides lateral thrust as well, and it is therefore an effective roll stabilization devicefor ships in full speed range.

Rollover prevention control for a four in-wheel motors drive electric vehicle on an uneven road

When a four in-wheel motors drive electric vehicle with a specific wheels mass is running on an uneven road and transient steering occurs in the meantime, the joint action of the large unsprung dynamic load and the centrifugal force may cause the vehicle to rollover. To avoid the above accident, a rollover prevention control method based on active distribution of the in-wheel motors driving torques is investigated. First, tile rollover evolution process of the four in-wheel motors drive electric vehicle under the described operating condition is analyzed. Next, a multiple degrees of freedom vehicle dynamics model including an uneven road tyre model is established, and the rollover warning threshold is determined according to the load transfer ratio. Then, the hypothesis of the effects of unsprung mass on the vehicle roll stability on a plat road and on an uneven road is verified respectively. Finally, a rollover prevention controller is designed based on the distribution of the four wheels driving torques with sliding mode control, and the control effect is verified by simulations. The conclusion shows that, once the wheels mass does not match road conditions, the large unsprung mass may play a detrimental role on the vehicle roll stability on an uneven road, which is different from the beneficial role of large unsprung mass on the vehicle roll stability on a plat road. With the aforementioned rollover prevention controller, the vehicle rollover, which is caused by the coupling effect between large unsprung dynamic load and suspension potential energy on an uneven road, can be avoided effectively.