Abstract Dynamic instabilities are quite common in planing crafts. This study deals with the elimination of one type of dynamic instabilities known as porpoising. The controller device is a pneumatically driven trim tab that applied to the transom of the boat. The governing dynamic equations of the planing craft and the pneumatically driven system are derived. The stability analysis of the system is carried out and porpoising instability is shown under some conditions. A dual control scheme consisting of the actuator control subsystem (inner control subsystem) and the planing craft (outer control subsystem) is proposed in order to control the planing craft from porpoising instability. Since the dynamic of the pneumatic actuator system is highly nonlinear, its governing equation is reduced to a linear equation through the feedback linearization method and then the linear–quadratic regulator (LQR) control method is used to control this system. The planing craft is also controlled based on an optimal control method with the help of the controlled actuator. Finally, the actuator controller performance is examined through tracking predefined trajectories, and then it is used to control the planing craft. The stability of the planing craft is also shown in the presence of the actuator under the conditions that cause the porpoising instability. The simulation results indicate that this model can effectively be implemented to counteract porpoising in the planing crafts. Eventually, a prototype of planing craft equipped with pneumatically actuated trim tabs is constructed and the effectiveness of the proposed control system is examined in a towing tank.

中文翻译：

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使用气动驱动修剪选项卡的刨削工艺控制

摘要 动力不稳定性在刨削工艺中很常见。这项研究涉及消除一种称为鼠海豚的动态不稳定性。控制器装置是一个气动调整片，应用于船的艉板。推导了滑行艇和气动驱动系统的控制动力学方程。对该系统进行了稳定性分析，并在某些条件下显示了海豚不稳定。提出了一种由执行器控制子系统（内控制子系统）和滑行艇（外控子系统）组成的双控制方案，以控制滑行艇的海豚不稳定。由于气动执行器系统的动态是高度非线性的，通过反馈线性化方法将其控制方程简化为线性方程，然后使用线性-二次调节器（LQR）控制方法来控制该系统。在受控执行器的帮助下，还基于最佳控制方法来控制滑行艇。最后，通过跟踪预定义的轨迹来检查执行器控制器的性能，然后将其用于控制​​滑行艇。在导致海豚不稳定的条件下，在有致动器的情况下也显示了滑行艇的稳定性。仿真结果表明，该模型可以有效地实施以抵消刨刀中的海豚。最终，