Anti-interference control method and device for dynamic positioning ship, and electronic device

Abstract

The embodiment of the invention provides an anti-interference control method and device for a dynamic positioning ship, and an electronic device. The method includes steps of in consideration of the environmental interference such as ocean wind, ocean waves, and ocean current, establishing a state space mathematical model of the dynamic positioning ship by analyzing the dynamic characteristic andthe dynamic feature of the dynamic positioning ship; designing an interference observer based on the state space mathematical model and using the interference observer to obtain the external environmental interference estimated quantity of the dynamic positioning ship; designing an anti-interference controller based on the external environmental interference estimated quantity and acquiring an anti-interference control closed-loop system based on the anti-interference controller, the state space mathematical model, and the external environmental interference estimated quantity; and based on the anti-interference control closed-loop system, subjecting the dynamic positioning ship to anti-interference control based on an anti-interference compensation quantity. The method in the embodiment of the invention reduces the complexity of the model and the calculation amount of the control process while ensuring the control precision and the control stability.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of ship positioning, and more specifically, relate to an anti-jamming control method, device and electronic equipment for a dynamic positioning ship. Background technique [0002] The dynamic positioning system (Dynamic Positioning System, DPS) refers to the control system that the dynamic positioning ship relies on its own propulsion device to generate thrust, so that the ship maintains a certain attitude or sails along a fixed track. Ship dynamic positioning system has been widely used on drilling platforms and supply ships and other ships and achieved good results. [0003] However, ships navigating in the ocean environment will be affected by disturbances from the surrounding ocean environment, such as uncertain ocean environments such as wind, waves, and currents. At present, in order to overcome these influences, the control methods for ship dynamic positioning system mainly incl...

AI Technical Summary

Problems solved by technology

Due to the unpredictability of environmental disturbances such as wind, waves, and currents, for actual ship motion, the adaptive control method cannot effectively solve the control problem of the dynamic positioning system, and the traditional PID control cannot meet the requirements of ship control accuracy and stability. , while backstepping control, neural network control, fuzzy control, etc., have high requirements on the control object model and a large amount of calculation, so the practicability is poor

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