Ship course active disturbance rejection controller

Abstract

A ship course active disturbance rejection controller is characterized in that a system is composed of the active disturbance rejection controller, a steering engine servo mechanism, a ship motion mathematic model and a stormy wave flow disturbance signal, the input end of the active disturbance rejection controller receives a course setting signal, the course setting signal is compared with a practical course signal, after the course setting signal is processed by the active disturbance rejection controller, the output end of the active disturbance rejection controller is connected with the input end of the steering engine servo mechanism and transmits and outputs a control signal, the output end of the steering engine servo mechanism is connected with the input end of the ship motion mathematic module, and the output end of the steering engine servo mechanism is connected with the input end of the active disturbance rejection controller according to the practical course. By means of the ship course active disturbance rejection controller, the characteristics of large inertia, non-linearity and the like of the ship motion are overcome, the ship course is rapidly and smoothly switched and controlled, the steering amount is small, and the ship course can be quite accurately kept and controlled.

Description

technical field [0001] The invention relates to a ship motion control algorithm, in particular to a ship heading controller. Background technique [0002] Ship traffic bears more than 90% of the international trade volume. With the continuous development of the economy, the density of maritime traffic is increasing, and the requirements for the safety and economy of navigation are also getting higher and higher. Navigation control becomes an important research topic. [0003] In the 1920s, an autopilot based on the PID method was designed and used for automatic control of ship heading. With the development of control theory, modern control methods such as adaptive control were used in ship heading control in the 1970s. However, due to the complexity of ship motion, the external environment is random and unpredictable, and modern control methods such as adaptive control algorithms cannot completely solve the problem of ship heading control. In fact, the ship motion has the...

AI Technical Summary

Problems solved by technology

However, due to the complexity of ship motion, the external environment is random and unpredictable, and modern control methods such as adaptive control algorithms cannot completely solve the problem of ship heading control

In fact, the ship motion has the characteristics of large inertia and nonlinearity, and the change of the speed and loading produces the perturbation of the model parameters; the stroke of the voyage produces the average wind force and the additional variable wind force on the ship, the drift of the ship position due to the current, and the change of the ship's heading angle caused by the wave. High-frequency changes and low-frequency drift of ship position, as well as changes in navigation conditions and severe interference of environmental parameters all cause uncertainties in ship motion, which limits the application of adaptive control technology in ship course control applications.

Subsequently, various new control algorithms, such as variable structure control, H∞ robust control, predictive control, precise feedback linearization, backstepping, neural network control, fuzzy control, etc., were successively applied to ship heading control. Some progress has been made in research, but some problems have also been exposed, such as chattering in variable structure control; H∞ control, generalized predictive control, precise feedback linearization, backstepping, etc. have high requirements on the control object model, and the algorithm is not easy to be Engineers are familiar with it; the generalization ability of neural network control needs to be further studied, and the completeness of control has not been completely solved; the engineering design of fuzzy control is intuitive and easy to implement, but the determination and optimization of control rules are often still very difficult

[0004] In the past 20 years, intelligent ships based on automation have developed rapidly, but limited by the complexity of ship motion, the problem of intelligent control of ship motion has not been well resolved.

In fact, most of the current ship heading controllers are still designed based on PID or adaptive control methods, and their application range and control effect are difficult to meet the requirements of ship intelligence.

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