Ship motion control system with control input restraints considered

Abstract

The invention provides a ship motion control system with control input restraints considered. The ship motion control system comprises a guide system, a control system, a sensor system, a differential homeomorphism convertor and a data processing system and further comprises an input compensation system. The guide system calculates the expected pose and the expected speed of a ship at each moment according to the input expected value and the initial position of the ship; a sensor collects actual pose information and actual speed information of the ship; the data processing system obtains low-frequency pose information and the low-frequency speed of the ship; the differential homeomorphism convertor obtains new state variables; the control system conducts corresponding solution according to the new state variables to obtain corresponding control instruction information; the control instruction information is transmitted to the input compensation system to be compensated, and a final control instruction is obtained and sent to an execution mechanism of the ship. According to the ship motion control system, a model has an unknown non-linear function, the control input restraints are considered, and the ship motion control system is designed on the basis of self-adaption neural network estimation and through the filtering back-stepping method.

Description

technical field [0001] The invention relates to a ship motion control system. Specifically, it is a ship motion control system designed by filtering backstepping method based on adaptive neural network estimation when the model has unknown nonlinear functions and considers control input constraints. Background technique [0002] In recent years, land resources have become increasingly scarce, and rich marine resources have attracted the attention of all countries, and countries have also paid more and more attention to marine engineering and marine development. Therefore, the fields related to ship control have been widely concerned by researchers. Ship course control, track control, path tracking and dynamic positioning technology have become the focus of research in the field of control. [0003] In the design process of the ship motion controller, most literatures do not consider the dynamic characteristics and natural constraints (saturation and dead zone characteristic...

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Problems solved by technology

However, the above literatures are all controller designs for systems with known models, and they do not consider the saturation characteristics and dead zone characteristics of actuators.

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