On the design of a longitudinal motion control system of a fully-submerged hydrofoil craft based on the optimal preview servo system |
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| Authors: | Sang-Hyun Kim Hiroyuki Yamato |
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| Institution: | a Korea Research Institute of Ships and Ocean Engineering, Korea Ocean Research and Development Institute, 171, Jangdong, Yusong, Taejeon 305-343, South Korea;b Department of Environment and Ocean Engineering, The University of Tokyo, Tokyo, Japan |
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| Abstract: | The current control system of a fully-submerged hydrofoil craft based on optimal feedback control has several problems: it has no good performance of contouring waves and it cannot reduce the effect of wave disturbance. In this paper, we apply the optimal preview servo system to the longitudinal control system of a fully-submerged hydrofoil craft in order to settle the problems of current control system. The control system based on optimal preview servo system is composed of feedback controller and feedforward controller. Also in order to design the control system, the necessary prediction range of future information, the weight function in performance index, the future reference input and wave disturbance are determined. Finally, the validity of the proposed control system in this paper is confirmed by simulation. The simulation results show that the control system has good performance of contouring waves in following seas and is effective to settle the problems of current control system of a fully-submerged hydrofoil craft. |
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| Keywords: | Fully-submerged hydrofoil Longitudinal motion control Preview control Optimal preview servo system |
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