Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOA
To evaluate the seakeeping of a hydrofoil-equipped unmanned surface vessel(USV), a linear quadratic regulator(LQR) was adopted, and its parameters were optimized using the zebra optimization algorithm(ZOA), with the amplitudes of roll, pitch, and heave motions as key metrics. First, the kinematics a...
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| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Science Press (China)
2025-02-01
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| Series: | 水下无人系统学报 |
| Subjects: | |
| Online Access: | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0083 |
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| Summary: | To evaluate the seakeeping of a hydrofoil-equipped unmanned surface vessel(USV), a linear quadratic regulator(LQR) was adopted, and its parameters were optimized using the zebra optimization algorithm(ZOA), with the amplitudes of roll, pitch, and heave motions as key metrics. First, the kinematics and dynamics models of the hydrofoil-equipped USV were established with differential flap rotation angles and motor thrust as the control variables, and the mathematical model was linearized. Next, the vertical particle acceleration and slope of irregular waves were introduced as disturbance, and the LQR was simulated using Simulink. To minimize the motion amplitude of hydrofoil-equipped USV during navigation, the LQR parameters were optimized using ZOA and particle swarm optimization(PSO) algorithms， respectively under different sampling frequencies and population sizes for comparison. Finally, simulation under random wave disturbances at different encounter angles was performed to validate the effectiveness and feasibility of LQR and ZOA methods, providing the optimal course angle and references for the attitude control and seakeeping research of hydrofoil-equipped USVs. |
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| ISSN: | 2096-3920 |