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Self-adaptive positioning and tracking fault-tolerant control method of non-linear power system of ship

A power system, positioning and tracking technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as failure of adaptive control methods

Active Publication Date: 2014-10-01
嘉之会(青岛)智能科技有限公司
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Problems solved by technology

However, it should also be pointed out that although the adaptive method strengthens the adaptability of the control strategy to the uncertain parts of the system, the changes in the system structure and parameters caused by uncertain factors such as faults will make many adaptive control methods invalid.

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  • Self-adaptive positioning and tracking fault-tolerant control method of non-linear power system of ship

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0049] Aiming at the positioning control problem of a class of complex nonlinear ship power system composed of multiple subsystems, based on the situation that the system model is unknown, the overall framework of the adaptive positioning tracking fault-tolerant control method for nonlinear ship power system is as follows: figure 1 As shown in Fig. 1, by dynamically compensating the effects of modeling errors, uncertainties and ship actuator failures, relatively smooth and rapid positioning can be achieved.

[0050] Such as figure 2 Shown are the horizontal motion coordinate system and the inertial coordinate system of the ship's power system. ξ and η in the figure represent the north and east directions respectively, and ξOη is a partial inertial coordinate, where O is the origin of the coordinate system selected arbitrarily and fixed on the surface ...

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Abstract

The invention discloses a self-adaptive positioning and tracking fault-tolerant control method of a non-linear power system of a ship. Firstly, a coupling motion model of a ship under the inertial coordinate system and a dynamic equation of state variable of the ship are established; Secondly, a performance reference decoupling sub-model signal generator is designed according to the positioned static and dynamic characters of ship; finally, a self-adaptive fuzzy logic device is designed and used for estimating unknown terms of the ship and a self-adaptive tracking fault-tolerant controller is designed, so that positioning control of the power system of the ship in normal operation or under the circumstance that boundary failures of an actuator occur under the sea conditions of wind, wave and current can be realized . The self-adaptive positioning and tracking fault-tolerant control method of the non-linear power system of the ship has the advantages that the control method is independent of known terms of each subsystem model of the ship, a single subsystem is controlled through directly utilizing the independent state of each subsystem, so that situations related to global variable of the ship is incorporated into the uncertainty to be handled; besides, impacts of the uncertainty of the ship and failures of the actuator can be compensated dynamically through the fuzzy logic device and the self-adaptive fault-tolerant controller, and positioning and tracking uncertainty caused by human estimates can be reduced.

Description

technical field [0001] The invention relates to an adaptive positioning tracking fault-tolerant control method of a nonlinear ship power system, belonging to the field of fault-tolerant control. Background technique [0002] Due to the increasing complexity of the dynamic environment of modern industrial equipment and its own mechanical structure, the modeling of the control object must be difficult to complete, and the whole system often presents complex nonlinearity and uncertainty. Factors such as component loss and environmental changes may bring a lot of uncertainty to the actual control effect of the actuator at any time, which may cause the system to fail, and even cause the system to become unstable in severe cases, resulting in huge safety accidents. [0003] Positioning and tracking control problems widely exist in modern industrial systems, such as robot spot welding, disk magnetic track reading and storage handling, etc. Especially as people continue to expand th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 陶洪峰
Owner 嘉之会(青岛)智能科技有限公司
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