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Lihua Liang, Jia Yuan, Songtao Zhang, Peng Zhao |

- 2020-07-10

- 13 M

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This work presents optimal linear quadratic regulator (LQR) based on genetic

algorithm (GA) to solve the two degrees of freedom (2 DoF) motion control problem

in head seas for wave piercing catamarans (WPC). The proposed LQR based GA

control strategy is to select optimal weighting matrices (Q and R). The seakeeping

performance of WPC based on proposed algorithm is challenged because of

multi-input multi-output (MIMO) system of uncertain coefficient problems. Besides

the kinematical constraint problems of WPC, the external conditions must be

considered, like the sea disturbance and the actuators (a T-foil and two flaps)

control. Moreover, this paper describes the MATLAB and LabVIEW software plats

to simulate the reduction effects of WPC. Finally, the real-time (RT) NI

CompactRIO embedded controller is selected to test the effectiveness of the

actuators based on proposed techniques. In conclusion, simulation and experimental

results prove the correctness of the proposed algorithm. The percentage of heave

and pitch reductions are more than 18% in different high speeds and bad sea

conditions. And the results also verify the feasibility of NI CompactRIO embedded

controller.

1 : SIMULINK ⺻

1.1 SIMULINK 1

5

Ķ 7

ùķ̼ Ķ (Configuration Parameters) 8

ùķ̼ 9

Ķ ǥ 9

ǥ 11

2.2 ùķ̼ 13

̺й 17

º 23

DC ùķ̼ 24

Լ 29

й(difference equation) 34

Subsystem(νý) 37

2 :

Design a software real-time operation platform for wave piercing

catamarans motion control using linear quadratic regulator based

genetic algorithm

1. Introduction 41

2. Mathematical model of WPC 43

3. Design of linear quadratic regulator based genetic algorithm 46

4. Experimental results and discussions 52

5. System development and simulation using MATLAB environment 52

6. Software implementation of NI CompactRIO embedded controller 57

7. Conclusions 61

8. References 62