Design a software real-time operation platform for wave piercing catamarans motion control using linear quadratic regulator based genetic algorithm

• Published in: PloS one Vol. 13; no. 4; p. e0196107
• Main Authors: Liang, Lihua, Yuan, Jia, Zhang, Songtao, Zhao, Peng
• Format: Journal Article
• Language: English
• Published: United States Public Library of Science 30.04.2018; Public Library of Science (PLoS)
• Subjects: Actuators; Algorithms; Analysis; Automation; Biology and Life Sciences; Catamarans; Computer and Information Sciences; Computer programs; Computer simulation; Control theory; Controllers; Degrees of freedom; Engineering; Engineering and Technology; Feasibility studies; Flaps; Genetic algorithms; Hydrofoil craft; Linear quadratic regulator; Military technology; MIMO (control systems); Motion control; Parameter estimation; Physical Sciences; Real time operation; Research and Analysis Methods; Sea keeping; Software; Wave-piercing hulls; China
• ISSN: 1932-6203; 1932-6203
• DOI: 10.1371/journal.pone.0196107

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.