Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Ship course dynamic surface sliding mode control method based on drift angle compensation

A control method and dynamic surface technology, applied in two-dimensional position/course control, non-electric variable control, control/regulation system, etc., can solve the problems of drift angle, expected heading deviation, infeasibility, wear, etc., and achieve reduction Effect of heading error, good estimation performance, improved robustness

Active Publication Date: 2021-08-24
SHANGHAI MARITIME UNIVERSITY
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most of the ship motion control ignores the influence of drift angle during navigation, and the drift angle causes a certain deviation to the desired heading
In order to compensate for the drift angle, the most direct method is to use instruments such as GPS, accelerometers and other sensors to measure, however, the noise and high cost of the sensors make this method not feasible
In addition, due to mechanical characteristics, the actuator has a saturation constraint problem. The rudder saturation problem will not only cause wear on the actuator itself, but also reduce the course tracking performance.
Ship control is a typical underactuated system control. In addition to the influence of sea environment disturbance, the complexity and uncertainty of the ship maneuvering model itself brings great challenges to ship heading control.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Ship course dynamic surface sliding mode control method based on drift angle compensation
  • Ship course dynamic surface sliding mode control method based on drift angle compensation
  • Ship course dynamic surface sliding mode control method based on drift angle compensation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0064] Embodiment: Take a monohull ship with a length of 38 meters as the controlled object, and use MATLAB to carry out computer numerical simulation. The nonlinear ship motion model is used as shown in formula (11), and the specific parameters in the model are as follows.

[0065] m 11 =120×10 3 m 22 =177.9×10 3 m 33 =636×10 5

[0066] d u =215×10 2 d v =147×10 3 d r =802×10 4

[0067] d u2 =0.2d u d v2 =0.2d v d r2 =0.2d r

[0068] d u3 =0.1d u d v3 =0.1d v d r3 =0.1d r

[0069] In this embodiment, the surge speed is controlled by an independent control system, and the initial speed is designed to be 6m / s, and the surge speed is maintained at 7m / s after acceleration. The expected heading angles are 0°, 20°, and 40° respectively, and the simulation time is 300s. Considering the complex disturbance factors of wind, wave and current, the disturbance model of marine environment is used for simulation.

[0070] Figure 3-Figure 7 Some simula...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a ship course dynamic surface sliding mode control method based on drift angle compensation, and the method is characterized by comprising the steps of pre-filtering an obtained expected course psi r of a ship, and obtaining a filtered reference course psi d and the smooth transition of a course change rate; according to an estimated drift angle value, carrying out correction based on drift angle compensation on an initial course error e = psi h-psi d, wherein the corrected course error is ea, and psi h is the actual course; designing virtual control and instruction filtering to prevent the problem of calculation explosion; defining dynamic errors e1 and e2 according to the corrected course error and the filtered reference course; for instruction filtering in the step S3, calculating compensation tracking errors v1 and v2, and defining a compensation tracking signal according to a system dynamic error to eliminate the influence of the instruction filtering error; and calculating a ship yawing control moment instruction signal tau r according to a sliding mode control rule based on an approaching law, updating the real-time course information, and entering the step S2.

Description

technical field [0001] The invention relates to the technical field of ship course control, in particular to a dynamic surface sliding mode control method for ship course based on drift angle compensation. Background technique [0002] In order to ensure the safety and economy of ships navigating at sea, course control, as the most basic content of ship motion control, has been an important research topic in the field of ship control. At present, most of the ship motion control ignores the influence of drift angle during navigation, and the drift angle causes a certain deviation to the desired heading. In order to compensate the drift angle, the most direct method is to use GPS, accelerometer and other sensors to measure, however, the noise and high cost of the sensors make this method not feasible. In addition, due to mechanical characteristics, there is a saturation constraint problem in the actuator. The rudder saturation problem will not only cause wear and tear on the ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T90/00
Inventor 储瑞婷刘志全秦毅峰朱云浩
Owner SHANGHAI MARITIME UNIVERSITY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com