Fig 1.
A 2 DoF WPC rigid body moving in a three-dimensional space.
Table 1.
The partial hydrodynamic parameters.
Fig 2.
Disturbing forces and moments.
Fig 3.
An anti-vertical motion system with actuators.
Fig 4.
Steps of GA based LQR.
Fig 5.
The optimum GA results.
Table 2.
GA parameters settings.
Table 3.
The results of LQR-GA.
Fig 6.
Effects of WPC ride control with LQR-GA approach on heave and pitch.
(a) Heave. (b) Pitch.
Fig 7.
A WPC with a T-foil and two flaps.
Table 4.
Nominal physical parameters of WPC.
Fig 8.
SIMULINK diagrams of the controlled WPC.
Fig 9.
An interactive screen of GA SIMULINK diagram.
Fig 10.
Comparison of effects at 40 knots.
(a) Heave. (b) Pitch.
Fig 11.
Comparison of effects at SSN4.
(a) Heave. (b) Pitch.
Fig 12.
Comparison of vertical motion in five conditions.
(a) Heave reduction. (b) Pitch reduction.
Table 5.
The weighting parameters and the desired gain in different SSN and speeds.
Fig 13.
VI structure for WPC.
Fig 14.
A 2 DoF WPC motion control system program.
Fig 15.
Front panel configuration of vertical control of WPC.
Fig 16.
Connection diagram of overall system.
Fig 17.
Embedded controller test plat.
Fig 18.
Model validation of the LQR-GA controller.
(a) Comparison of experimental data and simulated results at 30 knots & SSN4. (b) Comparison of experimental data and simulated results at 40 knots & SSN4. (c) Comparison of experimental data and simulated results at 40 knots & SSN5. (d) Comparison of experimental data and simulated results at 40 knots & SSN6. (e) Comparison of experimental data and simulated results at 50 knots & SSN4.