Ship host active-disturbance-rejection controller

Abstract

The invention discloses a ship host active-disturbance-rejection controller which is characterized in that a system is composed of the active-disturbance-rejection controller, an accelerator servo mechanism, a ship host mathematic model and a wind wave flow interference signal. The input end of the active-disturbance-rejection controller receives a speed setting signal which is compared with an actual speed signal, and after the signal is processed by the active-disturbance-rejection controller, the output end of the active-disturbance-rejection controller is connected with the input end of the accelerator servo mechanism and transmits an output control signal. The output end of the accelerator servo mechanism is connected with the input end of the ship host mathematic model. The output end actual speed is connected with the input end of the active-disturbance-rejection controller. The ship host active-disturbance-rejection controller overcomes the defect that the rotational speed control process of a ship host has uncertainty caused by nonlinearity, time variation and disturbance of the environment, the speed switching control process of the ship host is rapid and smooth, adjustment of an accelerator is small, and the high-precision speed can be achieved.

Description

technical field [0001] The invention relates to a ship motion control algorithm, in particular to a ship main engine speed controller. Background technique [0002] Ship traffic bears more than 90% of the international trade volume. With the continuous development of the economy, the density of maritime traffic is increasing, and the requirements for the safety and economy of navigation are also getting higher and higher. Navigation control becomes an important research topic. [0003] The performance and service life of the ship's main diesel engine largely depend on the performance of its speed control system. At present, most of the advanced ship main engine speed control systems at home and abroad use digital speed governors, and the control law mainly uses PID controllers. However, the speed control process of the main engine of the ship has nonlinearity, time variation, and necessary start and stop. The operator's misoperation and the control object are inevitably di...

AI Technical Summary

Problems solved by technology

However, the speed control process of the main engine of the ship has nonlinearity, time variation, and necessary start and stop. The operator's misoperation and the control object are inevitably disturbed by the environment and have uncertainties. These uncertainties should be regarded as control Important comprehensive characteristics of the system

If the control system wants to obtain the optimal performance index, it is difficult to meet the requirements only by the PID controller designed by the traditional control law, because this kind of controller is usually under the condition that the control system has a constant coefficient and the environmental disturbance does not change too much. , in order to get the desired performance, otherwise, the control system cannot guarantee the optimal performance, or even become unstable

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