Maneuverability Simulation And Control Design Of A New Concept Marine Vehicle

A new concept marine vehicle is a new type ship which combines outstanding performance of SWATH (Small Waterline Twin Hull ship) and submarines. Due to poor priori knowledge about this new concept, it is very important to verify the design via both comprehensive experimental and theoretical study. As described below: the main work of this thesis mainly includes the study of maneuverability of the new concept marine vehicle, and the design of automatic control systems for both lateral and longitudinal motions.Firstly, Based upon ship-model tests and theoretical analysis, a dynamic model of the new concept marine vehicle underwater wave disturbances is established. The dynamic model is then realized by a Simulink program and comprehensive simulations are conducted under various maneuvering conditions.Secondly, based on the assumption of regular wave, the wave disturbing force/moment are integrated to motion equations of craft in still water. Consequently,a simplified maneuvering motion mathematical model of a new concept marine vehicle in wave environment is established and lays a foundation for the design and assessment of surface control systems.Thirdly, the steering controller for heading control both underwater and on surface are developed via classical PID (Proportional Integral Derivative) approach. The resulting heading control system is then evaluated by nonlinear simulations under Matlab/Simulink environment. Finally, the diving controller for motion in vertical plane is designed basing upon LQG (Linear Quadratic Gaussian), a classical multivariable robust control theory. The diving controller enables the vehicle to descend or ascend to desired depths with negligible pitch.