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Robust self-adaptive track tracking control system for dynamic positioning vessel

A robust adaptive and track tracking technology, which is applied in the field of ship track tracking control, can solve the problems of high accuracy of model parameters and does not consider external interference, etc., to achieve strong robustness and adaptability

Inactive Publication Date: 2014-05-07
HARBIN ENG UNIV
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Problems solved by technology

[0004] At present, there are many literatures on ship track tracking control at home and abroad, but these literatures either require high accuracy of model parameters, or do not consider external disturbances, or require all states to be measurable

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  • Robust self-adaptive track tracking control system for dynamic positioning vessel
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  • Robust self-adaptive track tracking control system for dynamic positioning vessel

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Embodiment Construction

[0024] The present invention is described in detail below:

[0025] Such as figure 1 As shown, the dynamic positioning ship robust adaptive track tracking control system of the present invention includes a reference path generator 1, a neural network estimator 2, a second-order sliding mode observer 3, a disturbance estimator 4, and a diffeomorphism transformer 5 , controller 6. The position and angle sensor 8 collects the actual position and heading angle of the surface ship, as well as the reference position and reference heading angle information generated by the reference path generator 1, and sends them to the neural network estimator 2 and the second-order sliding mode observer 3 at the same time, respectively to obtain The estimated value of the model unknown nonlinear function and the estimated value of the state, and then the estimated value of the state is transmitted to the disturbance estimator 4 and the diffeomorphism transformer 5 at the same time, and the distu...

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Abstract

The invention provides a robust self-adaptive track tracking control system for a dynamic positioning vessel. A position and angle sensor acquires and then sends actual positions and course angles, and reference positions and reference course angle information, which are generated by a reference path generator, to a neural network estimator and a second-order sliding mode observer and obtains a model unknown non-linear function estimation value and state estimation value and then transmits the state estimation value to a disturbance estimator and a diffeomorphism convertor at the same time and obtains an interference estimation value and a new state variant respectively. All of information obtained by the neural network estimator, the second-order sliding mode observer, the interference estimator, the diffeomorphism convertor and the position and angle sensor is transmitted to a controller and a control instruction is resolved to drive an execution mechanism and realize track tracking of a water-surface vessel. The robust self-adaptive track tracking control system for the dynamic positioning vessel does not need known precise hydrodynamic-force parameters of the water-surface vessel or precise identification of inertial mass parameters and realizes track tracking of the dynamic positioning vessel under a condition that interferences from an unknown environment exist.

Description

technical field [0001] The invention relates to a ship track tracking control method. Specifically, it is a track tracking control method for dynamic positioning ships based on nonlinear control theory when the model parameters are not completely known, the speed information cannot be directly measured, and there are unknown environmental disturbances. Background technique [0002] With the continuous deepening of human exploration of the ocean world, dynamic positioning technology has played an increasingly important role in offshore oil exploration, ocean development and other fields. [0003] In addition to the positioning mode, the dynamic positioning ship also has a low-speed / high-speed tracking mode, that is, ship track tracking control. When the ship is in positioning mode, due to the low speed of the ship, the ship model can be linearized, and then the controller design can be done based on the linearized model. However, when the ship performs track tracking contro...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
Inventor 夏国清武慧勇杨月
Owner HARBIN ENG UNIV
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