Finite-time dynamic positioning control system for underactuated ships with time-delay and saturation

A dynamic positioning technology with limited time, applied in the control/adjustment system, two-dimensional position/channel control, non-electric variable control and other directions, can solve the problems of uncertain faults, failure to take into account, etc., and achieve the convenience of dynamic positioning operation. Effect

Active Publication Date: 2022-03-01
SHANDONG JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, it does not take into account the uncertain failure of the ship's own actuator and the time lag caused by the actuator

Method used

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  • Finite-time dynamic positioning control system for underactuated ships with time-delay and saturation
  • Finite-time dynamic positioning control system for underactuated ships with time-delay and saturation
  • Finite-time dynamic positioning control system for underactuated ships with time-delay and saturation

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Embodiment Construction

[0049] In order to clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific implementation modes and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and / or letters in different instances. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. It should be noted that components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted herein to avoid unnecessarily limiting the...

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Abstract

The invention provides a limited-time dynamic positioning control system for underactuated ships with time lag and saturation, including ocean disturbance (1), dynamic positioning ship (2), actuator (3), sensor system (4), position sensor (5), speed sensor (6), state observer (7), finite time stabilization controller (8), time lag compensator (9), actuator saturation compensator (10), fault detection observer (11) , an actuator fault compensator (12), and a time interval measurement module (13). The present invention is applicable to the dynamic positioning process of underactuated and actuator-saturated dynamic positioning ships under harsh ocean disturbances. Considering the environmental interference and actuator failure problems during ship motion, a limited-time stable control system is designed to reduce the The positioning time of the dynamic positioning system can achieve a better control effect when the input of the actuator is limited.

Description

technical field [0001] The invention relates to the technical field of ship control, in particular to a fast and stable attitude control system under the condition of external disturbance designed for an actual ship dynamic positioning system under the condition of underactuation and actuator saturation. Background technique [0002] With the rapid development of the marine economy, human exploration and exploitation of the ocean is deepening year by year. Due to the complex and changeable deep sea environment, higher positioning accuracy is required for operating ships or platforms. Due to their own limitations, traditional operating tools, such as complex anchoring operations and poor maneuverability, cannot meet the requirements of modern positioning accuracy. . Therefore, the study of ship dynamic positioning control has more and more important practical significance for the exploitation of marine resources to revitalize the national economy. [0003] Chinese patent CN...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 杨仁明张炳华周佩张广渊
Owner SHANDONG JIAOTONG UNIV
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