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Nonlinear ship heading control method and control system

A heading control and nonlinear technology, applied in the field of nonlinear ship heading control methods and control systems, can solve the problems of weak robustness, large overshoot, slow response, etc., achieve fast response, small overshoot, and solve the problem of overshoot large amount of effect

Active Publication Date: 2022-06-17
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.

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  • Nonlinear ship heading control method and control system
  • Nonlinear ship heading control method and control system
  • Nonlinear ship heading control method and control system

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Embodiment Construction

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

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

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Abstract

The invention discloses a nonlinear ship heading control method and control system, which is based on fluid mechanics control equations including continuity equation, momentum equation, and state equation, combined with the motion equation and state of ship heading and rudder angle Equation, using the quadratic polynomial fitting method to establish a high-order nonlinear mathematical model of the ship's rudder angle, and then using the sliding mode variable structure control theory to obtain a suitable switching surface and a stable sliding mode equation of motion, the ship's rudder angle The nonlinear mathematical model of the angle is regarded as a kind of affine nonlinear system, and the sliding mode variable structure controller structure of the nonlinear mathematical model of the ship's course and rudder angle is solved to realize the simultaneous control of the two state variables of the ship's course and rudder angle . The invention can better control the two state variables of the heading angle and the rudder angle at the same time, and has fast response, small overshoot and strong robustness.

Description

technical field [0001] The invention belongs to the field of ship automatic control, and in particular relates to a nonlinear ship heading control method and a control system. Background technique [0002] The main thing related to the course of the ship is the yaw motion. The rudder and its dragging device are important equipment for the ship to change its course or maintain its predetermined course. The traditional ship heading control mainly adopts the PID control method, that is, the double closed loop is used. The control type of , respectively, performs fixed value control based on negative feedback on the heading angle and rudder angle, 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 systems, while nonlinear is the The commonal...

Claims

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Application Information

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Patent Type & Authority Patents(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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