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Design a software real-time operation platform for wave piercing catamarans motion control using linear quadratic

Lihua Liang1, Jia Yuan1, Songtao Zhang1

  • 1College of Automation, Harbin Engineering University, Harbin, Nangang District 145, Harbin city, Heilongjiang Province, China.

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Summary
This summary is machine-generated.

This study optimizes wave-piercing catamaran (WPC) motion control in head seas using a genetic algorithm (GA) and linear quadratic regulator (LQR). The method effectively reduces heave and pitch by over 18% in challenging conditions.

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Area of Science:

  • Naval Architecture and Marine Engineering
  • Control Systems Engineering
  • Computational Intelligence

Background:

  • Wave-piercing catamarans (WPCs) face significant motion control challenges in head seas due to multi-input multi-output (MIMO) systems and uncertain coefficients.
  • Seakeeping performance is further complicated by kinematic constraints, sea disturbances, and the control of actuators like T-foils and flaps.

Purpose of the Study:

  • To develop and validate an optimal linear quadratic regulator (LQR) control strategy for two degrees of freedom (2 DoF) motion control in WPCs.
  • To utilize a genetic algorithm (GA) for optimizing the weighting matrices (Q and R) of the LQR controller.
  • To assess the effectiveness of the proposed control strategy through simulation and real-time experiments.

Main Methods:

  • An LQR controller was designed, with its weighting matrices (Q and R) optimized using a genetic algorithm (GA).
  • Simulations were conducted using MATLAB and LabVIEW software to model the WPC's seakeeping performance and the control system's reduction effects.
  • Real-time (RT) testing was performed using an NI CompactRIO embedded controller to evaluate actuator effectiveness.

Main Results:

  • The proposed LQR-based GA control strategy demonstrated significant reductions in heave and pitch motion.
  • Heave and pitch reductions exceeded 18% across various high speeds and adverse sea conditions.
  • Simulation and experimental results confirmed the accuracy and effectiveness of the developed control algorithm.

Conclusions:

  • The LQR-based GA approach provides an effective solution for motion control of WPCs in head seas.
  • The NI CompactRIO embedded controller proved feasible for implementing and testing the proposed control techniques in real-time.
  • The study validates the potential for substantial improvements in WPC seakeeping performance through advanced control strategies.