Vertical motion stability of high speed multihulls based on incremental predictive control

DOI:	10.11809/bqzbgcxb2023.02.020
Keywords:	high speed multihull; vertical motion control; incremental predictive control; wave disturbance
Abstract:	In order to enhance the ability of a high speed multihull to suppress wave disturbance and reduce the amplitude of vertical motion, this paper proposes a vertical motion stabilization scheme based on incremental predictive control. Based on the establishment of a vertical coupled motion model of a high speed multihull, the scheme analyzes the frequency domain and time domain of random wave disturbance, and estimates wave disturbance force and moment on the basis of the output integrated disturbance model. In order to reduce the influence of average wave disturbance force and disturbance moment on the vertical motion, the vertical motion model is transformed into an incremental model as a prediction model of predictive control. At the same time, the amplitude and output change rate of heave and pitch are introduced into the objective function. The rolling optimization strategy is used to obtain the vertical motion prediction control law of the multihull and analyze the stability of the closed loop system. The simulation results show that the proposed incremental predictive control can effectively reduce the change rate and amplitude of the heave and pitch, reducing the heave displacement of the multihull by 59% and the pitch angle by 47%.
Issue:	Vol. 44 No. 2 (2023)
Published:	2023-02-28
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