Modeling and optimal flight control of a foiling dinghy

Francioni, Marco (2021) Modeling and optimal flight control of a foiling dinghy. [Laurea magistrale], Università di Bologna, Corso di Studio in Aerospace engineering / ingegneria aerospaziale [LM-DM270] - Forli'
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This Master Thesis illustrates the physics behind the mathematical model of a foiling dinghy to be used in a model-based autopilot architecture, and the multiple frames of references needed for an exhaustive force description. Using the modeled foiling boat, we performed the non-trivial task of finding meaningful trim setpoints, which were then used throughout the simulations. We applied Optimal Control theories to achieve stability and control of a foiling dinghy with a movable crew at different trim settings and various environmental parameters, such as wind speed and sea state, both stationary and time-varying. We developed a prototype of a gain scheduler for the closed-loop to perform tack and jibes maneuvers in multiple environments, and compared the stability and parameters sensitivity of different closed feedback loop architectures, both in a straight line and maneuvering performance. The maneuvering performances were established with extensive ad-hoc simulations to properly characterize the behavior of the architecture, while the straight-line response and parameter variation sensitivity was determined through Monte Carlo simulations. At the end of this paperwork, the two best performing closed-loop architectures proposed were compared to determine which one would be the more promising for a practical application.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Francioni, Marco
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
Foiling dinghy, model based, optimal control problem, sailboat, hydrofoil, foiler, sail, tack, jibe, gibe, stability, foil, boat, scheduler
Data di discussione della Tesi
27 Maggio 2021

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