A stabilized hydrofoil watercraft comprising: a watercraft base member; a hydrofoil mast having a proximal end portion and a distal end portion, the proximal end portion mechanically connected to the underside of the watercraft base member; a fuselage mechanically connected to the distal end portion of the at least one hydrofoil mast; a rudder configured to control a yaw angle of the watercraft; an elevator rotatable about an axis lying in a plane parallel to the watercraft base member; and a stabilization device further comprising at least one sensor configured to detect a 3D orientation of the watercraft base member, an estimator configured to estimate the 3D orientation, an actuator for manipulating the rudder and the elevator, and a controller for analyzing the estimated 3D orientation and controlling the actuator. In response to a perturbed roll tilt of the watercraft, the controller generates a command to a rudder actuator to compensate for the detected tilt.
一种稳定的水翼水运船艇,其包括:水运船艇基座构件;具有近端部分和远端部分的水翼桅杆,所述近端部分机械连接至所述水运船艇基座构件的所述底侧;机械连接至所述至少一个水翼桅杆的所述远端部分的机身;配置用于控制所述水运船艇的偏航角的方向舵;可围绕位于平行于所述水运船艇基座构件的平面中的轴线旋转的升降舵;以及稳定装置,所述稳定装置还包括至少一个配置用于检测所述水运船艇基座构件的3D方位的传感器、配置用于估计所述3D方位的估计器、用于操纵所述方向舵和所述升降舵的致动器,以及用于分析所估计的3D方位并控制所述致动器的控制器。响应于所述水运船艇的扰动横摇倾斜,所述控制器向方向舵致动器生成命令以补偿检测到的倾斜。
Control system for hydrofoil watercraft with fully-immersed hydrofoil
带全浸式水翼的水翼水运船艇用控制系统
2022-12-09
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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