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

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...

AI Technical Summary

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 weight functions are still difficult; and the problem of H∞ robust control with bad condition numbers and the problem of model reduction

The backstepping control method has certain limitations, that is, it can only be applied to strict feedback control systems, or systems that can be transformed into strict feedback forms, and there are problems such as calculation expansion and difficulty in constructing Lyapunov functions.

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