제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Attitude control of foil-catamaran

  • Rhee, Key-Pyo (Dept. of Naval Arch. and Ocean Eng., Seoul National Univ.) ;
  • Lee, Gyoung-Jung (Dept. of Naval Arch. and Ocean Eng., Seoul National Univ.) ;
  • Lee, Sim-Yong (Dept. of Naval Arch. and Ocean Eng., Seoul National Univ.)
  • Published : 1995.10.01
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Abstract

In this paper the attitude control system is developed for longitudinal motion of Foil-Catamaran in regular waves with all-movable foils which attached to fore and after part of the ship and verified the system by theoretical calculation and model-tests. The linearized equations of motion of the ship is employed to apply the linear control theories, the PID control and the LQR. The strip method was used to calculate hydrodynamic coefficients and wave exciting forces of the demi hull, and unsteady hydrodynamic forces of foils are considered by using the result of Wu(1972). About 40-60% of motions is reduced in experiments. The control system described in this paper is able to extended to 6-DOF motions or control in irregular wave with trivial modification. And it is applicable to hull shape development for better seakeeping performance and to determine the size and the position of hydrofoils for the attitude control.

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