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Nonlinear ship course control model and control system

A course control and nonlinear technology, applied in the field of nonlinear ship course control model and control system, can solve the problems of large overshoot, slow response, weak robustness, etc., and achieve small overshoot, fast response and robustness strong effect

Active Publication Date: 2021-09-07
WUHAN UNIV OF TECH
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Problems solved by technology

Therefore, at present, the two state variables of heading angle and rudder angle cannot be well controlled at the same time, and there are shortcomings such as slow response, large overshoot and weak robustness.

Method used

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  • Nonlinear ship course control model and control system
  • Nonlinear ship course control model and control system
  • Nonlinear ship course control model and control system

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] A nonlinear ship heading control model, based on fluid dynamics control equations including continuity equation, momentum equation, and state equation, combined with motion equations and state equations of ship heading and rudder angle, and using quadratic polynomials to simulate The high-order nonlinear mathematical model of the ship's rudder angle is established by a combined method, and then the sliding mode variable structure control theory is used to obtain a suitable switching surface and a stable sliding mode equation of motion, and the nonlinear mathematical model of the ship's rudder angle is regarded as As a kind of affine nonlinear system, the sliding mode variable structure controller structure of the nonlinear mathematical model of the ship's course and rudder angle is solved, so as to realize the simultaneous control of the two state...

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Abstract

The invention discloses a nonlinear ship course control model and a control system. The method comprises: based on fluid mechanics control equations including a continuity equation, a momentum equation and a state equation, and are combined with motion equations and state equations of ship course and rudder angle, establishing a high-order nonlinear mathematical model of a ship heading rudder angle by using a quadratic polynomial fitting method, then solving a proper switching surface and a stable sliding mode motion equation by using a sliding mode variable structure control theory, and taking the nonlinear mathematical model of the ship heading rudder angle as a class of affine nonlinear system, so as to obtain a stable switching surface; and solving a sliding mode variable structure controller structure of the nonlinear mathematical model of the ship course rudder angle so as to realize simultaneous control of two state variables of the ship course and the rudder angle. According to the method, the two state variables of the course angle and the rudder angle can be well controlled at the same time, response is fast, overshoot is small, and robustness is high.

Description

technical field [0001] The invention belongs to the field of ship automatic control, in particular to a nonlinear ship heading control model and a control system. Background technique [0002] The main thing related to the course of the ship is the yaw movement. The rudder and its dragging device are important equipment for the ship to change its course or maintain its predetermined course. The traditional course control of the ship mainly adopts the PID control method, that is, the double closed loop The control type of this paper performs fixed value control based on negative feedback on the heading angle and rudder angle respectively, but the effect is not ideal. [0003] At present, adaptive control, fuzzy control and neural network theory have also been applied to the control research of ship track, but the research on track control of sliding mode variable structure theory is mainly concentrated in the field of linear system, and nonlinear is the key to the control of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 毛小兵徐伟洪于思恂虞梓牛
Owner WUHAN UNIV OF TECH
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