Study of the double closed-loop active disturbance rejection control strategy for the longitudinal motion of fully submerged hydrofoil craft

Abstract

In the process of high-speed driving, the longitudinal motion of the hydrofoil craft has the characteristics of parameter uncertainty and strong coupling, which leads to poor stability of the hydrofoil craft and the problem of high precision requirement for disturbance wave data. Therefore, a control method based on active disturbance rejection control (ADRC) and double closed loop is proposed. The algorithm is under the condition of decoupling the ship’s motion attitude and realizes the internal and external double-loop active disturbance rejection control of pitch angle and heave displacement based on the high-order sliding mode observer (HSMO) with better adaptability. By designing the speed error integral sliding mode surface, the dynamic characteristics of the system have been improved., and improve overall hydrofoil stability at high speeds. Finally, based on the Unreal Engine 5 platform, a visual longitudinal motion control system of hydrofoil craft is constructed. The simulation results show that compared to the existing sliding control mode, this control method can reduce the heave displacement and pitch angle by about 50%, shorten the response time of real-time control of hydrofoil craft. The superiority and effectiveness of the control system were verified.