【摘要】 将一条模型尺度的全浸没式水翼艇作为案例船开展横摇控制研究。采用模型预测控制算法有效处理水翼失速角等约束条件，同时限制水翼的大幅剧烈运动，兼顾横摇姿态控制和执行机构保护的双重目标。在预测模型中增添预测偏差量作为前馈项，用以消除稳态误差，对常规模型预测控制算法做出一个重要改进。将案例船配备推进系统和可控水翼进行横摇控制航行试验，结果清晰展示了改进型模型预测控制器的横摇控制效果，这对水翼船的姿态控制研究具有重要借鉴意义。更多还原

【Abstract】 The rolling control research is conducted on a model-sized fully-submerged hydrofoil craft. The model predictive control algorithm MPC is adopted to handle the constraint conditions such as the stalling angle of hydrofoils and dramatic motion of hydrofoils. The dual objectives of rolling control and actuator protection could be achieved simultaneously. The prediction deviation is introduced into the prediction model as feed forward to eliminate the steady-state error, which is an important improvement to the conventional MPC algorithm. The case craft equipped with propulsion system and controllable hydrofoils is deployed on water for rolling control free-running tests, which can demonstrate the effectiveness of the improved MPC controller.更多还原