Study On Modeling And Control Of High Speed Planing Craft

The emergence of high-speed planing craft is an important marker in the history of ship development,for the sake of its special advantages,such as small size、high speed、strong maneuverability and flexibility of operation,and so on.the high speed planning craft is well applied in military and civil aspects.With the development of computer technology,The research about the design and control method of the planing craft never stop.From single ship to multi hull ship,from single M to multiple M channel type planing boat,from the initial PID control to the current hybrid intelligent control,the development of high-speed ship is rapidly.In this paper,the high-speed Planing Boat is stepped planing boat,from the angle of the ship,the boat has more advantages than the ordinary flat planing craft,Because when the high speed boat are sliding,whether it is stepped or channel,the wet area of high speed boat will be reduced,and then reduced the viscous resistance,The design of step will be scattered dynamic lift into several flat stress,increased the stability of the hull sailing;The design step will lift the set of points scattered into several flat stress,increase the stability of the hull;In terms of the control system,the navigation state of the high-speed craft is complex,which brings some difficulties to the design of the control system.In this paper,the most important study is the speed and course control system of high speed planing craft.Firstly,it must select the appropriate coordinate system,and analyze the kinematic relationship between the inertial system and the ship coordinate system.Based on the characteristics of the high speed planing craft,it makes a preliminary analysis to the types of hydrodynamic,and sets up a mathematical model of six DOF for high speed planing craft.Then,due to the particularity between the design of the channel and the step on the high speed planing craft,the theoretical analysis of the flat planing craft is not suitable for the ship,So,the CFD numerical simulation method is used to simulate the additional mass and damping coefficient of the planing craft in the sliding process,at the sametime,it will analysis hydrodynamic of the high speed planing craft totally,At the same time on the boat by the lift to make overall analysis,combining with the theoretical calculation get various specific hydrodynamic force and torque expressions,simplifing five degree of freedom control model,and testing the model of five DOF of the open loop characteristicLast,according to the characteristics of the planing boat propulsion system,the research on the speed and course control,the coupling degree of rudder and propeller is higher.According to the characteristics of the system and the influence of the uncertain factors in the process of high-speed planing craft,the robust controller will be selected.According to the experience of others,it choose the weighting function.The decoupling controller is designed by using robust control,and the simulation results are compared between the two control methods,In the case of high speed planing boat with rudder,the coupling control of speed course is better than that of decoupling control at the same time.