Ship dynamic positioning control method based on inverse system and internal model control

A control method and dynamic positioning technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as difficulty in constructing Lyapunov function, insufficient generalization ability of neural network control, and learning

Active Publication Date: 2014-11-12
GUANGDONG UNIV OF TECH
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Problems solved by technology

However, due to the lack of generalization ability of neural network control, the internal knowledge expression method of this box makes it impossible to use initial experience for learning, and it is easy to fall into local minima. The potential of distributed parallel computing depends on the improvement of hardware technology
The calculation of H∞ robust control is complex; the setting of indicators and the selection of

Method used

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  • Ship dynamic positioning control method based on inverse system and internal model control
  • Ship dynamic positioning control method based on inverse system and internal model control
  • Ship dynamic positioning control method based on inverse system and internal model control

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Embodiment

[0053] The present invention is described in further detail by the following examples.

[0054] The ship dynamic positioning control method based on the inverse system and internal model control algorithm of the present invention adopts the α-order inverse system principle to perform feedback linearization on the coupled nonlinear ship motion mathematical model to obtain a pseudo-linear system; The system is controlled; the specific steps are as follows:

[0055] 1) Establish a ship motion model

[0056] According to the experimental ship of Guangdong University of Technology Marine Laboratory, a 2.8m supply ship reduced by 26:1 is used as the control object. The model of the ship in still water under low frequency is as follows:

[0057] ( m - X u · ...

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Abstract

The invention provides a ship dynamic positioning control method based on an inverse system and internal model control. The ship dynamic positioning control method comprises the following steps of 1 establishing a ship dynamic system mathematic model; 2 constructing a pseudo-linear system about a ship; 3 designing an internal model controller of an inner ring; 4 calculating a reference model of a speed ring control system; 5 designing an internal model controller of an outer ring; 6 adding coordinate system transformation; 7 designing parameters of the inner ring controller; 8 designing parameters of the outer ring controller. By means of the ship dynamic positioning control method based on the inverse system and an internal model control algorithm, the problem of ship motion control can be reasonably and efficiently solved, the robustness is good, the positioning accuracy is high, and green control can be achieved.

Description

technical field [0001] The invention is a ship dynamic positioning control method based on an inverse system and an internal model control, which belongs to the transformation technology of the ship dynamic positioning control method based on an inverse system and an internal model control. Background technique [0002] With the development of society and the deepening of ocean development, the demand for positioning equipment is also increasing. For example, salvage rescue boats, engineering supply ships, drilling platforms, offshore firefighting boats, ocean research ships, mining ships, submarine pipelines and cable laying work boats, etc., when they are conducting diving operations, diving tracking, offshore construction, and offshore exploration, All need a positioning system, that is, to control the positioning of the ship according to the predetermined purpose and predetermined position. The Dynamic Positioning system (Dynamic Positioning system) is a closed-loop con...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 王钦若刘芸彭义张慧班勃
Owner GUANGDONG UNIV OF TECH
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