| The trimaran is a new type of ship.Due to its excellent characteristics,it has been unanimously recognized by the academic community,and various countries are conducting in-depth research on it.The trimaran consists of a main body and two side panels.It shares a main deck and superstructure.It has large deck space,high stability and strong wave resistance.Compared with conventional monohulls,the trimaran has the characteristics of high speed,low energy consumption,high stability and excellent operation,which is especially suitable for military applications.Therefore,the trimaran has gradually developed vigorously.However,during the high-speed navigation,the longitudinal movement of the trimaran is severe,which restricts the development of the high-speed trimaran.In this paper,based on the existing upper-layer control algorithm,the design and implementation of the bottom-level control system of the three-hull attitude control system is carried out.The speed and heading of the tri-hull are controlled by various sensors and various motors.The T-foil and Flaps are used as the attachment anti-rolling device,and the angle of attack of the T-foil and Flaps is controlled by the existing decoupling control algorithm.Ship speed heading control is a key topic in high-performance ship research.The stability of heading and heading is very important for the trimaran control system.It is not only important for the stability of the three-hull sailing,but also the stability of the navigation speed can reduce the fatigue of the driver.And can save fuel,all experiments will rely on the reliability of the trimaran control.In this paper,the LOS algorithm is used for track tracking,and the PID algorithm is used for cruise control.Only by guaranteeing the reliability of the underlying control system can the correctness of the existing upper control algorithm be verified.According to the performance requirements of the trimaran-related experiments,this paper will use a variety of sensors,actuators,power units to build a complete navigational bottom-level control system to ensure the reliability and stability of the three-body ship related experiments.In this paper,the design of the embedded control system of the control system of the T-foil and Flaps of the trimaran and the design of the embedded control system of the speed and heading are carried out.The hydraulic drive is selected as the driving method of the active T-foil and Flaps;the ARM7 is used as the main control chip to design the hydraulic system hardware circuit,and the relevant data of the hydraulic system,the T-foil and Flaps arecollected.The DSP main control chip is used to design the hardware circuit of the ship’s speed and heading control system,collect the rudder angle and engine speed information,and control the relevant switch quantity.The rudder angle and the speed of the ship are controlled by the PID control algorithm.Then,the hydraulic system modeling and the displacement and angle mapping of the T-wing and the pressure wave board are carried out.The angle-controlled control of the hydraulically driven T-wing and the pressure wave board is carried out by using the human-like intelligent PID control algorithm.The PID control algorithm controls the hydraulic system,and its adjustment time is short,and the control performance is more excellent.Finally,a large number of experiments were carried out;experiments such as speed,course and anti-rolling were carried out;the feasibility of the upper layer control algorithm was verified,and the embedded bottom control system of the trimaran was analyzed to meet the requirements of the upper layer algorithm. |
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