CN107145074A - A kind of high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law - Google Patents
A kind of high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law Download PDFInfo
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Abstract
The present invention is to provide a kind of high-speed trimaran pitching stabilization control method based on sliding moding structure convergence law.This method designs the random seaway model of different stage；Trimaran hydrodynamic force coefficient is obtained using ANSYS Platform Analysis, trimaran lengthwise movement mathematical modeling is set up, longitudinal motion response heaving height and pitch angular is obtained；Using heaving height and pitch angular as input, the sliding mode control law based on Reaching Law is designed, obtains exporting inflow angle degree knots modification；Set up the lengthwise movement model for subtracting and shaking the T-shaped wing of attached body and wave suppression plate, it will subtract and shake attached body inflow angle degree knots modification as subtracting and shake attached body control system and input, it is output as subtracting and shakes longitudinal force and torque that attached body provides for trimaran, feedback effect is in high-speed trimaran lengthwise movement system.It in terms of this method can be applied to the stability control of military and civilian multi-hull ship, can effectively weaken influence of the wave for trimaran kinetic stability, improve comfort of passenger.
Description
Technical Field
The invention belongs to the field of high-speed trimaran longitudinal motion anti-rolling control, and particularly relates to a high-speed trimaran anti-rolling control method based on a sliding mode variable structure approximation law.
Background
The classical control theory and the modern control theory need a controlled object to have a clear mathematical model, but the actual controlled object is not ideal, the mechanism of the system may be complex, the scale is huge, the variables are many, the parameters are changeable and coupled, or the system has the conditions of nonlinearity, uncertainty, time-varying property and hysteresis, the traditional control theory is difficult to analyze mathematically, and a mathematical model conforming to the motion rule is established. Generally, linearization is adopted for nonlinearity in modeling, centralized parameters are adopted for distributed parameters, constant coefficients are adopted for time varying coefficients, and modeling and actual conditions can be greatly different, so that the traditional control algorithm is difficult to work in actual control. A traditional control method such as a PID controller is adopted in a longitudinal anti-rolling control system of the trimaran, although the algorithm is simple, the method is only suitable for a system with unchanged parameters of a controlled object and non-serious nonlinearity, dynamic control cannot be realized during quick navigation of the trimaran, and the control effect of the method according to an experimental result is far from meeting the requirement. The optimal control effect of the LQR control method depends on the selection of the weighting arrays Q and R, which results in a large workload and a large error.
The sliding mode variable structure control method has the advantages of capability of being designed and independent of object parameters and disturbance, quick response, strong disturbance resistance, simple physical implementation and the like. Aiming at the anti-rolling control of the high-speed trimaran, the traditional PID control method can not meet the requirement of realizing rapid and nonlinear real-time control in complex and irregular sea conditions, the sliding mode variable structure can better adapt to the complex conditions due to the characteristics, and no clear design exists at present for the sliding mode method applied to the anti-rolling aspect of the emerging high-speed trimaran.
Disclosure of Invention
The invention aims to provide a high-speed trimaran pitch-reducing control method based on a sliding mode variable structure approach law, which can better improve the stability of the longitudinal motion of a high-speed and slender trimaran.
The invention relates to a high-speed trimaran pitch-reducing control method based on a sliding mode variable structure approximation rule method, which comprises the following steps:
the method comprises the following steps: designing random sea wave models of different levels according to the international weather bureau sea wave standard;
step two: utilizing a random sea wave model, analyzing by using an ANSYS platform to obtain a hydrodynamic coefficient of the trimaran, and establishing a mathematical model of the longitudinal motion of the high-speed trimaran according to the hydrodynamic coefficient to obtain the vertical motion response heave height and the pitch angle of the high-speed trimaran;
step three: designing a sliding mode variable structure control law based on an approach law by utilizing the longitudinal motion response heave height and pitch angle of the high-speed trimaran to obtain a control output incident flow angle variable quantity;
step four: and establishing a lifting force and moment calculation model of the T-shaped wing and the wave pressing plate of the anti-rolling appendage, obtaining longitudinal force and moment provided by the anti-rolling appendage for the trimaran by utilizing the incident flow angle change of the anti-rolling appendage, and feeding back the longitudinal force and moment to act on a longitudinal motion system of the high-speed trimaran.
The random sea wave model in the first step is specifically as follows:
(1) according to different effective wave heights H and frequency bands corresponding to different levels of sea waves specified by the International meteorology organization, establishing random sea wave models of different levels by using MATLAB programming;
(2) the model establishment is based on a rational spectrum method, and the designed rational spectrum is defined as follows:
wherein S isx(ω) is the power spectral density function of the real stationary stochastic process involved, x (t), P (ω) and Q (ω) are ω real coefficient polynomials and the denominator order must be higher than the numerator;
the final model of the sea wave is as follows:
irepresenting the phase angle constituting the sea wave, is considered to be a random variable within the interval (0,2 pi), i.e.i＝rand(0,2π)，S(wi) Wave at circular frequency wiThe power spectral density of (a), N being the number of samples;
(3) the input of the wave module is a clock, and the output is used as the input of the rear module.
The longitudinal motion model of the trimaran in the step two is specifically as follows:
(1) analyzing by using an ANSYS platform to obtain the hydrodynamic coefficients of the three-body ship at different navigational speeds;
(2) according to the speed, the wave model and the encounter frequency of the trimaran in the sea, the MATLAB platform 'ss 2 tf' function is used for realizing the specific decoupling and solving of the trimaran longitudinal motion model.
Step three, the sliding mode variable structure control law based on the approximation law specifically comprises the following steps:
(1) establishing variable structure control of a longitudinal motion control system of the trimaran:
the exponential approach law is designed as follows:
wherein:is an exponential approximation term;
obtaining variable structure control:
(2) softening the control law:
xi is a small integer which is selected independently;
the finally obtained sliding mode variable structure control law based on the approximation law is as follows:
the parameters determine the robust performance of the system, and the larger the value is, the better the robust performance is; the parameter q determines the speed of the control system approaching to the hyperplane gradually, the larger the q is, the faster the system approaches, A, B is a system state matrix, C is a control matrix to be solved, the control matrix can be solved by using an MATLAB compiling platform and utilizing a pole allocation method, and xi is a small integer selected autonomously.
Step four, calculating the lifting force and moment of the T-shaped wing and the wave pressing plate of the anti-rolling appendage:
a nonlinear relation is formed between the incident flow angle change quantity and the force which is longitudinally provided for the trimaran corresponding to the angle, and the moment corresponding to the force is obtained:
MT/F＝da·FT/F
wherein rho is the density of seawater and is 1.025 × 103kg/m3A is the projected area of T-shaped wing or wave-pressing plate, V is the speed of ship, α is the variation of attack angle of incident flow of anti-rolling appendage, CL(α) is the coefficient of lift of the roll reducing appendage, which can be generally considered constant at an angle of attack α hours, daThe vertical distance between the installation position of the T-shaped wing and the center of gravity; ft、FfAnd Mt、MfRespectively, the lift and moment provided by the T-shaped wing and the press plate.
The control method designed by the invention obviously reduces the heave and pitch of the moving ship body aiming at the longitudinal stabilization when the most common high-speed trimaran is sailed in the sea. The sliding mode control method is used for the longitudinal stabilization function of the high-speed trimaran, is suitable for the marine navigation environment with complex sea conditions and high ship speed, can be applied to the stability control aspect of military and civil trimarans, can effectively weaken the influence of sea waves on the motion stability of the trimaran, and improves the comfort level of passengers.
Drawings
FIG. 1(a) is a three-dimensional model of SSN 5-level random ocean waves specified by the International climate Bureau;
FIG. 1(b) is a three-dimensional model of SSN 6-level random ocean waves specified by the International climate Bureau;
FIG. 2 is a block diagram of a control system designed by the present invention;
FIG. 3 is a flow chart of a control method of the present invention;
fig. 4 is a view showing a structure of a longitudinal motion model of the trimaran according to the present invention.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
A flow chart of the high-speed trimaran pitch-reducing control method based on the sliding mode variable structure approximation rule method is shown in fig. 3, and the specific flow is as follows:
(1) establishing a random sea wave model:
the wave can be regarded as being formed by superposition of a series of cosine waves with different amplitudes, different wavelengths and different initial phases, and the instantaneous wave height of the wave can be expressed as follows:
wherein H is the average sea surface tide, ζiIs the amplitude, k, of the component waveiIs the wave number, thetaiIs the angle, ω, of the direction of propagation of the component wave with respect to the x-axisiIs the angular frequency of the constituent waves,iis the phase angle of the constituent waves and can be considered as a random variable within the interval (0,2 pi), x being the width of the instantaneous waves in the direction of the x-axis, and z being the height of the instantaneous waves in the direction of the z-axis.
In the experiment, the average wave height H of the sea level is made to be 0 and fixed, and the sea wave model can be simplified as follows:
discretizing by adopting a rational spectrum method:
the rational spectrum is defined as follows:
wherein S isx(ω) is the power spectral density function of the real stationary stochastic process involved, X (t), and P (ω) and Q (ω) are the ω real coefficient polynomials and the denominator order must be higher than the numerator.
The approximate spectral form of a rational ocean wave is as follows:
let s be j ω, then:
the theory of parameter estimation can know that:
S(ωi)＝Sx(ωi) (6)
wherein i ═ 1, 2, ·, N, (N >2N) and S (ω) is the power spectral density of sea waves:
wherein, A is 8.10 × 10-3g2，Is the sense wave height and ω is the wave circular frequency.
And (3) substituting the formula into the formula (2) to obtain a final sea wave model:
wherein,irepresenting the phase angle constituting the sea wave, is considered to be a random variable within the interval (0,2 pi), i.e.i＝rand(0,2π)，S(wi) Is the wave frequency wiWhere N is the number of samples.
Examples of three-dimensional images of SSN5 and SSN 6-level random ocean wave models are given in FIG. 1(a) and FIG. 1 (b).
The input of the wave module is a clock, and the output is used as the input of the rear module.
(2) Designing a longitudinal motion model of the trimaran:
firstly, carrying out an experiment by using an AQWA software module of an ANSYS Workbench platform, adjusting the draught by moving a model, and carrying out shell drawing on the model to obtain a shell with the thickness of one layer of the outer surface set as 0 because an entity cannot be calculated in the AQWA; and then, carrying out waterline cutting and ship integral structure construction on the high-speed trimaran. Then, the turning radius is set after the center of mass is inserted: kxx＝0.163m，Kyy＝0.807m，Kzz0.807 m. And finally setting the circular frequency: the circle frequencies used in the experiment at 40 knots are: 0.42249rad/s, 0.56275rad/s, 0.69203rad/s, 0.81299rad/s, 0.92691rad/s, 1.03491rad/s, 1.18757rad/s, 1.42196rad/s, 1.63671 rad/s. Finding out a generation in a file folder obtained by simulation, obtaining a hydrodynamic coefficient a of the trimaran after processing the DAT file by Aqwa16.0ii、bii、cii。
As can be seen from fig. 4, the system design is divided into a conversion part of wave-force and a conversion part of force-angle, and the final output is the heave height and pitch angle in the longitudinal direction of the trimaran.
The high-speed ship pitching and heaving coupling equation can be obtained by the Dalnbell theory:
the left side of the equation is a dynamic model of the ship, the right side of the equation is the relation between the sea waves and the force, a motion model of the ship under the action of the force can be deduced from the left side of the equation, and a stress model of the ship under the action of the sea waves can be deduced from the right side of the equation. In the formula m33Is the ship mass, aijIs the additional mass of seawater to the vessel, x3Is the amount of heave, bijIs the damping coefficient, cijIs the coefficient of restitution, x5Is the amount of pitching, m55Are the pitch moments of inertia, and these hydrodynamic coefficients are obtained by simulation on an ANSYS platform according to the dimensional parameters of different trimarans. Ft、FfAnd Mt、MfRespectively representing the lift and moment provided by the T-shaped wing and the press board, FwaveAnd MwaveRespectively heave disturbance force and pitch disturbance moment of sea waves acting on the trimaran.
When the trimaran is at different sailing speeds and different encounter frequencies, different wave-force and force-angle transfer function equations can be obtained according to the equation (10). When selecting a speed of 40 knots and a wave of SSN5 order, an encounter frequency of 1.5rad/s, the transfer function equation that can be obtained is as follows:
force-heave:
moment-heave:
force-pitching:
moment-pitch:
(3) design of sliding mode variable structure module
The state space equation of the longitudinal motion linear differential equation of a trimaran is expressed as:
in the formula:is a control vector that is a function of,wherein x3Andfor heave displacement and heave velocity, x5Andare the pitch angle and the pitch angular velocity.
Accordingly, a linear switching function is selected:
S(x)＝Cx(t) (14)
designing a slip form surface: according to the sliding mode variable structure control theory, the sliding hyperplane has the following components:
s(x)＝Cx＝C1x1+C2x2＝0 (15)
on the hyperplane can be derived from the above equation:
the system slip equation is obtained as:
variable structure control is established for a longitudinal motion control system of a trimaran:
the most widely used exponential approximation law is adopted:
wherein:for the exponential approximation term, the system state space equation can be obtained:
introducing an exponential approximation law to obtain a sliding mode control law taking A, B, C, D matrixes in a state space equation of the longitudinal motion system as parameters, wherein unknown items only comprise C matrixes, and solving the C matrixes by using an MATLAB compiling platform and a pole allocation method;
the variable structure control can be obtained:
wherein: the magnitude of the parameter q determines the speed of approaching the switching hyperplane speed, the larger the value of the parameter q is, the faster the speed is, but if the value is too large, the oscillation can be caused; the size of the parameter determines the robust performance of the system, and the larger the value of the parameter is, the better the robustness is, but the larger the buffeting amplitude is, and the steady-state accuracy of the system is influenced.
The control law is softened to prevent the phenomenon of buffeting:
therefore, the final sliding mode control law is obtained as follows:
the only thing to be determined is the matrix C, and the solving of C can be realized by MATLAB programming by using a pole allocation method, and when the trimaran is at different speeds and encounters different frequencies, different switching function matrixes C of the sliding mode variable structure can be obtained.
And substituting the switching function matrixes C into a sliding mode control law formula (23) to obtain a corresponding sliding mode variable structure trimaran longitudinal motion stabilization control method, thereby realizing nonlinear dynamic control of trimaran longitudinal motion stabilization.
(4) Anti-rolling accessory body control module design
Carrying out parametric solution by using ANSYS 16.0, fixing the navigational speed at 40 knots/hour, taking the variation of the attack angle of the incident flow as a parameter for the T-shaped wing and the wave pressing plate in the experiment, wherein the input of the variation of the attack angle of the incident flow is an adjustment angle obtained after the longitudinal response is processed by the sliding mode controller, and the angle is the difference value between the required angle and the current attack angle, so that the calculation models of the lift and the moment changed by the angle variation provided by the sliding mode control law are both:
Mt/f＝da·Ft/f(25)
wherein rho is the density of seawater and is 1.025 × 103kg/m3(ii) a A is the surface area of the T-shaped wing, m2V is ship speed and m/s, α is the variation of incident flow angle of the anti-rolling attachment (note: the effective incident flow angle of T-shaped wing in actual working condition is composed of three parts, the corner of T-shaped wing, the pitch angle of ship and the additional angle generated by longitudinal movement, and the pitch angle of high-speed ship has weakening effect to the anti-rolling effect of T-shaped wing and the additional angle has strengthening effect to the anti-rolling effect of T-shaped wing)L(α) coefficient of lift, the angle of attack α can be considered constant for very small hours, daIs the vertical distance between the attachment location of the roll stabilizer and the center of gravity. In SIMULINK, the above formula can be realized by combining simple logic operation modules.
The obtained adjusting force and moment provided by the anti-rolling attachment are fed back to the longitudinal motion control system of the trimaran and are superposed on the original force, so that the realization of the anti-rolling closed-loop system is realized.
(5) The method comprises the following specific steps of realizing a high-speed trimaran longitudinal motion model based on a sliding mode in MATLAB:
the specific implementation is shown in FIG. 2, the sailing speed of the high-speed trimaran is 40 knots, and when SSN 5-level sea waves ξ (t) are used as input, the heave force F is obtained after the processing of a sea wave-force/torque module3And a pitching force F5The vertical motion model force-heave/pitch module is used as the input of the vertical motion model force-heave/pitch module of the trimaran to obtain heave x3And pitch x5And their varying accelerationAndthe four quantities are used as the input of a sliding mode controller and are processed by a sliding mode control method based on an approach lawThen obtaining the change α needed by the attack angle of the attack of the T-shaped wing and the wave pressing plate of the anti-rolling appendage, and obtaining the longitudinal force and the moment which are respectively F and are provided by the two anti-rolling appendages for the trimaran after the change is taken as the input and passes through the anti-rolling appendage motion modulet、FfAnd Mt、MfAnd the feedback quantity is used as a feedback quantity to act on the front of the force-heave/pitch module, so that the stable control of the longitudinal motion of the high-speed trimaran is realized.
Claims (5)
1. A high-speed trimaran pitch-reducing control method based on a sliding mode variable structure approach law is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: designing random sea wave models of different levels according to the international weather bureau sea wave standard;
step two: utilizing a random sea wave model, analyzing by using an ANSYS platform to obtain a hydrodynamic coefficient of the trimaran, and establishing a mathematical model of the longitudinal motion of the high-speed trimaran according to the hydrodynamic coefficient to obtain the vertical motion response heave height and the pitch angle of the high-speed trimaran;
step three: designing a sliding mode variable structure control law based on an approach law by utilizing the longitudinal motion response heave height and pitch angle of the high-speed trimaran to obtain a control output incident flow angle variable quantity;
step four: and establishing a lifting force and moment calculation model of the T-shaped wing and the wave pressing plate of the anti-rolling appendage, obtaining longitudinal force and moment provided by the anti-rolling appendage for the trimaran by utilizing the incident flow angle change of the anti-rolling appendage, and feeding back the longitudinal force and moment to act on a longitudinal motion system of the high-speed trimaran.
2. The pitch reduction control method for the high-speed trimaran based on the sliding-mode variable-structure approximation rule method according to claim 1, characterized in that:
the random sea wave model in the first step is specifically as follows:
(1) according to different effective wave heights H and frequency bands corresponding to different levels of sea waves specified by the International meteorology organization, establishing random sea wave models of different levels by using MATLAB programming;
(2) the model establishment is based on a rational spectrum method, and the designed rational spectrum is defined as follows:
<mrow> <msub> <mi>S</mi> <mi>x</mi> </msub> <mrow> <mo>(</mo> <mi>&omega;</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <mi>P</mi> <mrow> <mo>(</mo> <mi>&omega;</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mi>Q</mi> <mrow> <mo>(</mo> <mi>&omega;</mi> <mo>)</mo> </mrow> </mrow> </mfrac> </mrow>
wherein S isx(ω) is the power spectral density function of the real stationary stochastic process involved, x (t), P (ω) and Q (ω) are ω real coefficient polynomials and the denominator order must be higher than the numerator;
the final model of the sea wave is as follows:
<mrow> <mi>&zeta;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mrow> <mi>N</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msqrt> <mrow> <mn>2</mn> <mi>S</mi> <mrow> <mo>(</mo> <msub> <mi>&omega;</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <msub> <mi>&Delta;&omega;</mi> <mi>i</mi> </msub> </mrow> </msqrt> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <msub> <mi>&omega;</mi> <mi>i</mi> </msub> <mi>t</mi> <mo>+</mo> <msub> <mi>&epsiv;</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> </mrow>
irepresenting the phase angle constituting the sea wave, is considered to be a random variable within the interval (0,2 pi), i.e.i＝rand(0,2π)，S(wi) Wave at circular frequency wiThe power spectral density of (a), N being the number of samples;
(3) the input of the wave module is a clock, and the output is used as the input of the rear module.
3. The pitch reduction control method for the high-speed trimaran based on the sliding-mode variable-structure approximation rule method according to claim 1, characterized in that:
the longitudinal motion model of the trimaran in the step two is specifically as follows:
(1) analyzing by using an ANSYS platform to obtain the hydrodynamic coefficients of the three-body ship at different navigational speeds;
(2) according to the speed, the wave model and the encounter frequency of the trimaran in the sea, the MATLAB platform 'ss 2 tf' function is used for realizing the specific decoupling and solving of the trimaran longitudinal motion model.
4. The pitch reduction control method for the high-speed trimaran based on the sliding-mode variable-structure approximation rule method according to claim 1, characterized in that:
step three, the sliding mode variable structure control law based on the approximation law specifically comprises the following steps:
(1) establishing variable structure control of a longitudinal motion control system of the trimaran:
<mrow> <mi>u</mi> <mo>=</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msup> <mi>u</mi> <mo>+</mo> </msup> <mo>,</mo> <mi>s</mi> <mo>></mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msup> <mi>u</mi> <mo>-</mo> </msup> <mo>,</mo> <mi>s</mi> <mo><</mo> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> </mrow>
the exponential approach law is designed as follows:
wherein:is an exponential approximation term;
obtaining variable structure control:
(2) softening the control law:
<mrow> <mi>&theta;</mi> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mi>s</mi> <mrow> <mo>|</mo> <mi>s</mi> <mo>|</mo> <mo>+</mo> <mi>&xi;</mi> </mrow> </mfrac> </mrow>
xi is a small integer which is selected independently;
the finally obtained sliding mode variable structure control law based on the approximation law is as follows:
the parameters determine the robust performance of the system, and the larger the value is, the better the robust performance is; the parameter q determines the speed of the control system approaching to the hyperplane gradually, the larger the q is, the faster the system approaches, A, B is a system state matrix, C is a control matrix to be solved, the control matrix can be solved by using an MATLAB compiling platform and utilizing a pole allocation method, and xi is a small integer selected autonomously.
5. The pitch reduction control method for the high-speed trimaran based on the sliding-mode variable-structure approximation rule method according to claim 1, characterized in that:
step four, calculating the lifting force and moment of the T-shaped wing and the wave pressing plate of the anti-rolling appendage:
a nonlinear relation is formed between the incident flow angle change quantity and the force which is longitudinally provided for the trimaran corresponding to the angle, and the moment corresponding to the force is obtained:
MT/F＝da·FT/F
wherein rho is the density of seawater and is 1.025 × 103kg/m3A is the projected area of T-shaped wing or wave-pressing plate, V is the speed of ship, α is the variation of attack angle of incident flow of anti-rolling appendage, CL(α) is the coefficient of lift of the roll reducing appendage, which can be generally considered constant at an angle of attack α hours, daThe vertical distance between the installation position of the T-shaped wing and the center of gravity; ft、FfAnd Mt、MfRespectively, the lift and moment provided by the T-shaped wing and the press plate.
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| CN109334892A (en) * | 2018-09-20 | 2019-02-15 | 江苏大学 | A kind of simplification robust adaptive pitching stabilization control method of multi-hull ship |
| CN109766569A (en) * | 2018-11-23 | 2019-05-17 | 中国船舶重工集团公司第七一九研究所 | Submarine movement Model Simplification Method and device |
| CN110456809A (en) * | 2019-07-30 | 2019-11-15 | 哈尔滨工程大学 | A kind of structure changes integrated controller design method reducing AUV roll and pitch |
| CN111498037A (en) * | 2020-04-05 | 2020-08-07 | 哈尔滨工程大学 | High-speed catamaran longitudinal stabilization method based on variable structure active disturbance rejection control |
| CN112068437A (en) * | 2020-09-17 | 2020-12-11 | 哈尔滨工程大学 | Single-step prediction control anti-rolling method for high-speed multi-hull ship |
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| CN108008626A (en) * | 2017-12-05 | 2018-05-08 | 哈尔滨工程大学 | A kind of underwater robot carries out actively subtracting the fuzzy PID control method shaken when approximately level is by sea wave disturbance using hydroplane |
| CN108909964A (en) * | 2018-04-25 | 2018-11-30 | 哈尔滨工程大学 | A kind of ship stabilization controller method for handover control to navigate under state more |
| CN109334892A (en) * | 2018-09-20 | 2019-02-15 | 江苏大学 | A kind of simplification robust adaptive pitching stabilization control method of multi-hull ship |
| CN109334892B (en) * | 2018-09-20 | 2020-06-26 | 江苏大学 | Simplified robust self-adaptive pitching reduction control method for multi-hull vessel |
| CN109766569A (en) * | 2018-11-23 | 2019-05-17 | 中国船舶重工集团公司第七一九研究所 | Submarine movement Model Simplification Method and device |
| CN110456809A (en) * | 2019-07-30 | 2019-11-15 | 哈尔滨工程大学 | A kind of structure changes integrated controller design method reducing AUV roll and pitch |
| CN110456809B (en) * | 2019-07-30 | 2022-07-15 | 哈尔滨工程大学 | Design method of variable-structure integrated controller for reducing AUV (autonomous Underwater vehicle) rolling and pitching |
| CN111498037A (en) * | 2020-04-05 | 2020-08-07 | 哈尔滨工程大学 | High-speed catamaran longitudinal stabilization method based on variable structure active disturbance rejection control |
| CN112068437A (en) * | 2020-09-17 | 2020-12-11 | 哈尔滨工程大学 | Single-step prediction control anti-rolling method for high-speed multi-hull ship |
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