Roll Stabilization Control of Sailboats

被引：5
|
作者：
Wille, Kristian L. [1 ]
Hassani, Vahid [1 ,2 ]
Sprenger, Florian [2 ]
机构：
[1] Norwegian Univ Sci & Technol, Dept Marine Technol, Trondheim, Norway
[2] Norwegian Marine Technol Res Inst MARINTEK, Trondheim, Norway
来源：
IFAC PAPERSONLINE | 2016年 / 49卷 / 23期
关键词：
Roll Control; Modeling; Sailboat;
D O I：
10.1016/j.ifacol.2016.10.493
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper reports a way of dynamically controlling the sail of a sailboat to reduce the heel angle and roll motion caused by the wind. This is mainly to increase robustness and safety for autonomous sailboats but could also be used to increase comfort for crew. The solution consists of a linear quadratic regulator (LQR) controlling the moment created by the sail. A lookup table will then choose the optimal angle of the sail, optimized for maximum forward acceleration, given the relative wind direction and desired moment. Simulation results are presented to show the effectiveness of the approach. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elseiver Ltd. All rights reserved.
引用
收藏
页码：552 / 556
页数：5
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