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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Science Press (China)
2025-02-01
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| Series: | 水下无人系统学报 |
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| Online Access: | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0083 |
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| author | Xinhua SHUI Fuhai DUAN |
| author_facet | Xinhua SHUI Fuhai DUAN |
| author_sort | Xinhua SHUI |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-b82d263b280d45c6ae64c853b8bb05df |
| institution | DOAJ |
| issn | 2096-3920 |
| language | zho |
| publishDate | 2025-02-01 |
| publisher | Science Press (China) |
| record_format | Article |
| series | 水下无人系统学报 |
| spelling | doaj-art-b82d263b280d45c6ae64c853b8bb05df2025-08-20T03:16:26ZzhoScience Press (China)水下无人系统学报2096-39202025-02-01331657310.11993/j.issn.2096-3920.2024-00832024-0083Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOAXinhua SHUI0Fuhai DUAN1School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, ChinaSchool of Mechanical Engineering, Dalian University of Technology, Dalian 116024, ChinaTo 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.https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0083hydrofoil-equipped unmanned surface vehicleseakeepingrandom ocean waveslinear quadratic regulatorzebra optimization algorithm |
| spellingShingle | Xinhua SHUI Fuhai DUAN Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOA 水下无人系统学报 hydrofoil-equipped unmanned surface vehicle seakeeping random ocean waves linear quadratic regulator zebra optimization algorithm |
| title | Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOA |
| title_full | Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOA |
| title_fullStr | Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOA |
| title_full_unstemmed | Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOA |
| title_short | Seakeeping of Hydrofoil-Equipped Unmanned Surface VehicleBased on LQR and ZOA |
| title_sort | seakeeping of hydrofoil equipped unmanned surface vehiclebased on lqr and zoa |
| topic | hydrofoil-equipped unmanned surface vehicle seakeeping random ocean waves linear quadratic regulator zebra optimization algorithm |
| url | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2024-0083 |
| work_keys_str_mv | AT xinhuashui seakeepingofhydrofoilequippedunmannedsurfacevehiclebasedonlqrandzoa AT fuhaiduan seakeepingofhydrofoilequippedunmannedsurfacevehiclebasedonlqrandzoa |