Optimal Control of Planing Vessel Roll Using Inertial Mass

Through numerical simulations, we demonstrate roll control of planing vessels using optimal feedback control of an inertial mass that is free to move laterally within the hull. This is accomplished by developing a five degree of freedom (5DOF) maneuver model for prismatic planing vessel equipped with an active control mass actuator. Methods include interpolation of test data, empirical, and Lagrangian approaches. A Linear Quadratic Regulator is applied to the model and performance is compared against rudder roll stabilization methods. The results as shown in linear analysis and nonlinear time domain simulation indicate that a mass weighing 10% of vessel weight can achieve a disturbance rejection of greater than 10 dB over rudder stabilization methods and eliminates the undesirable non-minimum phase behavior characteristic of rudder systems. Due to the roll yaw force coupling of planing vessels, such inertial mass methods can be utilized to meet both seakeeping and maneuver objectives and eliminate the need for external fin type control mechanisms such as a rudder.