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Ship heading motion control method based on nonlinear h∞ inverse optimization output feedback controller

A technology of motion control and output feedback, applied in two-dimensional position/channel control and other directions, can solve problems such as inability to effectively deal with model uncertainty, and achieve the effects of improving self-adaptability, avoiding excessive wear, and stabilizing control accuracy

Inactive Publication Date: 2016-05-25
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, LQR is designed based on a locally linearized model, and cannot effectively deal with the uncertainty of the model and external disturbances.

Method used

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  • Ship heading motion control method based on nonlinear h∞ inverse optimization output feedback controller
  • Ship heading motion control method based on nonlinear h∞ inverse optimization output feedback controller
  • Ship heading motion control method based on nonlinear h∞ inverse optimization output feedback controller

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Embodiment Construction

[0031] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0032] Such as figure 2 As shown, a nonlinear H based ∞ The ship heading motion control method of the inverse optimization output feedback controller, its system composition includes the mathematical description of the ship heading motion and wave interference, the filter of the ship heading motion and sea wave interference, the nonlinear H ∞ Inverse optimization output feedback controller, control effect monitoring four parts.

[0033] During the execution of the method, the ship's course motion and wave disturbance information are estimated in the same filter. The mathematical description of the ship's course motion and wave disturbance completes the mathematical model description of the ship's course motion, the mathematical description of the impact of second-order wave disturbance, low-frequency disturbance forces and moments such as ocean currents and ...

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Abstract

The invention discloses a non-linear H infinite inverse optimization output feedback controller-based ship course motion control method. A ship course motion and wave interference filter is designed; on the basis of combination of ship course information collected in real time by a shipbone compass, course motion information generated by the effect of a ship rudder and sea wave disturbance information are estimated; a ship course motion H infinite inverse optimization controller that is designed based on a ship course local optimization H infinite controller is used to obtain an optimum control rudder angle by combining the course motion information obtained by estimation, so that the ship can move along a preset course; a control effect monitor is designed to record the course angle; and the control rudder angle of the ship in real time and whether the ship can track a ship course reference model is determined; and if the tracking effect is bad, the controller is adjusted timely.

Description

technical field [0001] The invention relates to a ship heading motion controller structure. Background technique [0002] In order to ensure the safety, maneuverability and economy of ships navigating at sea, course control is an important research topic in the field of ship control. Ship motion is nonlinear in nature, and its dynamic characteristics depend on many factors such as ship type, ship speed, water depth, load, draft, etc. These factors cause the ship dynamic model parameters to deviate from the nominal values. Therefore, the ship heading controller should be designed based on nonlinear control theory and must be robust to model parameter perturbations. Many advanced control algorithms such as H ∞ Control, intelligent control, adaptive control, variable structure control and backstepping control have been successively used in the design of heading controller, and rich research results have been obtained. [0003] The ship heading control system can only measure...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 彭秀艳赵新华胡忠辉王显峰
Owner HARBIN ENG UNIV