水下无人系统学报2025，Vol.33Issue(1)：65-73,9.DOI:10.11993/j.issn.2096-3920.2024-0083
基于LQR和ZOA的无人水面水翼航行器耐波性研究
Seakeeping of Hydrofoil-Equipped Unmanned Surface Vehicle Based on LQR and ZOA
摘要
Abstract
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.关键词
无人水面水翼航行器/耐波性/随机海浪/线性二次型调节器/斑马优化算法Key words
hydrofoil-equipped unmanned surface vehicle/seakeeping/random ocean waves/linear quadratic regulator/zebra optimization algorithm分类
武器工业引用本文复制引用
水新华,段富海..基于LQR和ZOA的无人水面水翼航行器耐波性研究[J].水下无人系统学报,2025,33(1):65-73,9.基金项目
国家自然科学基金(51975082). （51975082）
