Research on seakeeping of unmanned hydrofoil based on LQR and ZOA

In this paper, the motion amplitudes of roll, pitch and heave were selected as the indexes to measure seakeeping. LQR controller was adopted, and the parameters of LQR controller were optimized by ZOA. Firstly, the kinematics and dynamics models of unmanned hydrofoil were established with the differential flap rotation angle and motor thrust as the control variables, and the mathematical models were linearized. Then, the particle vertical acceleration and wave angle of irregular waves were taken as interference, and LQR controller simulation was carried out by Simulink. The objective was to reduce the motion amplitude of unmanned hydrofoil during navigation, and the parameters of LQR controller are optimized and compared by ZOA and PSO optimization algorithms respectively under different sampling frequencies and population numbers. Finally, the seakeeping index is simulated under the random wave interference of different encounter angles to verify the effectiveness and feasibility of LQR and ZOA methods, and to give the reasonable heading Angle of the outwater wing vehicle, which provides a theoretical reference for the attitude control and seakeeping research of the unmanned hydrofoil vehicle.