Steering engine saturation resistant self-adaptive control method for ship courses

An adaptive control, anti-rudder technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the inconsistency, instability, and inconsistency of closed-loop control performance between the output rudder angle of the controller and the actual rudder angle, etc. question

Inactive Publication Date: 2013-07-17
三亚哈尔滨工程大学南海创新发展基地
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Problems solved by technology

The existence of saturation factors will make the output rudder angle of the controller inconsistent with the actual rudder angle, resulting in inconsistent or even unstable closed-loop control performance

Method used

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  • Steering engine saturation resistant self-adaptive control method for ship courses
  • Steering engine saturation resistant self-adaptive control method for ship courses
  • Steering engine saturation resistant self-adaptive control method for ship courses

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Embodiment Construction

[0038] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0039] combine Figure 1~3 , the present invention includes dynamic anti-saturation compensator module, adaptive backstepping controller module, adder module, ship heading reference model module, steering gear servo system simulation module and control effect simulation analysis module six modules. The dynamic anti-saturation compensator module receives the output of the adder operation module; the adaptive backstepping controller module outputs the command rudder angle information; the simulation module of the steering gear servo system is a mathematical model of the actual steering gear of the ship, which has nonlinearities such as saturation dead zone characteristics; the adder module calculates the command rudder angle and the actual rudder angle information; the ship course reference model module has the model characteristics of the ship course movement, and ...

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Abstract

The invention provides a steering engine saturation resistant self-adaptive control method for ship courses. The method comprises performing a mathematical description on ship course motion, and constructing a dynamic saturation-resistant compensator, a first state vector z1 of a self-adaptive backstepping controller and a Lyapunov function of the z1 to obtain virtual control; calculating a second state vector z2 of the self-adaptive backstepping controller through subtraction through combining ship course angle information, the course angular speed and the compensation state which is output by a dynamic saturation-resistant compensator module, constructing an overall Lyapunov function in the control method, and obtaining a ship course non-linear self-adaptive controller provided with the saturation-resistant compensator through combining ship course stability conditions to complete the ship course non-linear self-adaptive control method provided with the saturation-resistant compensator. The self-adaptive control method is explicit in thinking, clear and reasonable in structure and prone to engineering implementation.

Description

technical field [0001] The invention relates to a ship heading control method. Background technique [0002] Steering control is often required when ships are sailing, and the rudder is required to be reasonable, fast and stable, with short adjustment time and small overshoot. When the ship turns, especially at a large angle, the range of motion is large, and the steering gear is often in a state of amplitude and speed saturation. The existence of saturation factors will make the output rudder angle of the controller inconsistent with the actual rudder angle, resulting in inconsistent or even unstable closed-loop control performance. Steering gear saturation factor is an important aspect to be considered in the design of ship heading controller. [0003] At present, there are usually two methods for the controller design of the actuator saturation link in the system: the direct design method and the anti-saturation compensation method. The direct design method is to direc...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 彭秀艳胡忠辉赵新华王显峰闫金山
Owner 三亚哈尔滨工程大学南海创新发展基地
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