Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications
In recent years, hydrofoils have become ubiquitous and critical components of high-performance surface vehicles. Twenty-meter-long hydrofoil sailing craft are capable of reaching speeds in excess of 45 knots. Hydrofoil dinghies routinely travel faster than the wind and reach speeds up to 30 knots. B...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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IEEE
2020
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| Online Access: | https://hdl.handle.net/1721.1/123873 |
| _version_ | 1826191048224800768 |
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| author | Bousquet, Gabriel David Elie Sylvain Triantafyllou, Michael S Slotine, Jean-Jacques E |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Bousquet, Gabriel David Elie Sylvain Triantafyllou, Michael S Slotine, Jean-Jacques E |
| author_sort | Bousquet, Gabriel David Elie Sylvain |
| collection | MIT |
| description | In recent years, hydrofoils have become ubiquitous and critical components of high-performance surface vehicles. Twenty-meter-long hydrofoil sailing craft are capable of reaching speeds in excess of 45 knots. Hydrofoil dinghies routinely travel faster than the wind and reach speeds up to 30 knots. Besides, in the quest for super-maneuverability, actuated hydrofoils could enable the efficient generation of large forces on demand. However, the control of hydrofoil systems remains challenging, especially in rough seas. With the intent to ultimately enable the design of versatile, small-scale, high-speed, and super-maneuverable surface vehicles, we investigate the problem of controlling the lift force generated by a flexible, surface-piercing hydrofoil traveling at high speed through a random wave field. We present a test platform composed of a rudder-like vertical hydrofoil actuated in pitch. The system is instrumented with velocity, force, and immersion depth sensors. We carry out high-speed field experiments in the presence of naturally occurring waves. The 2 cm chord hydrofoil is successfully controlled with a LTV/feedback linearization controller at speeds ranging from 4 to 10+ m/s. |
| first_indexed | 2024-09-23T08:49:39Z |
| format | Article |
| id | mit-1721.1/123873 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T08:49:39Z |
| publishDate | 2020 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/1238732022-09-23T14:50:02Z Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications Bousquet, Gabriel David Elie Sylvain Triantafyllou, Michael S Slotine, Jean-Jacques E Massachusetts Institute of Technology. Department of Mechanical Engineering In recent years, hydrofoils have become ubiquitous and critical components of high-performance surface vehicles. Twenty-meter-long hydrofoil sailing craft are capable of reaching speeds in excess of 45 knots. Hydrofoil dinghies routinely travel faster than the wind and reach speeds up to 30 knots. Besides, in the quest for super-maneuverability, actuated hydrofoils could enable the efficient generation of large forces on demand. However, the control of hydrofoil systems remains challenging, especially in rough seas. With the intent to ultimately enable the design of versatile, small-scale, high-speed, and super-maneuverable surface vehicles, we investigate the problem of controlling the lift force generated by a flexible, surface-piercing hydrofoil traveling at high speed through a random wave field. We present a test platform composed of a rudder-like vertical hydrofoil actuated in pitch. The system is instrumented with velocity, force, and immersion depth sensors. We carry out high-speed field experiments in the presence of naturally occurring waves. The 2 cm chord hydrofoil is successfully controlled with a LTV/feedback linearization controller at speeds ranging from 4 to 10+ m/s. 2020-02-27T19:48:25Z 2020-02-27T19:48:25Z 2017-09 2020-02-26T19:39:44Z Article http://purl.org/eprint/type/ConferencePaper 9781538626825 2153-0866 https://hdl.handle.net/1721.1/123873 G. D. Bousquet, M. S. Triantafyllou and J. E. Slotine, "Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 4203-4208. en http://dx.doi.org/10.1109/iros.2017.8206282 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE Elizabeth Soergel |
| spellingShingle | Bousquet, Gabriel David Elie Sylvain Triantafyllou, Michael S Slotine, Jean-Jacques E Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications |
| title | Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications |
| title_full | Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications |
| title_fullStr | Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications |
| title_full_unstemmed | Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications |
| title_short | Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications |
| title_sort | control of a flexible surface piercing hydrofoil for high speed small scale applications |
| url | https://hdl.handle.net/1721.1/123873 |
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