A 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 the problem of insufficient generalization ability of neural network control, difficulty in selecting weight function for index setting, and difficulty in constructing Lyapunuo Hu function and other problems, to achieve the effect of easy realization, simple structure and strict derivation
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[0048] The present invention is described in further detail by the following examples.
[0049] 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:
[0050] 1) Establish a ship motion model
[0051] 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:
[0052]
[0053] in, x u =-46.4, Y v =-257, N r =-206
[0054] where m is the mass of the ship, I Z is the moment of inertia, x G is the x-axis coordinate value of the center of gravity of the ship in the on-board coordinate system,...
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