A Ship Dynamic Positioning Control System Based on Equivalent Disturbance Compensation

Abstract

The invention belongs to the field of positioning control system, and particularly relates to a ship power positioning control system based on equivalent disturbance compensation. Three non-linear controllers in the longitudinal direction, in the transverse direction and in the heading direction are designed on the basis of the equivalent disturbance compensation theory according to the non-linear and environment disturbance uncertainty problem existing in a power positioning ship low-frequency movement model. The ship power positioning control system based on equivalent disturbance compensation comprises a display control computer, the longitudinal controller, the transverse controller, the heading controller, a thrust system and a power positioning ship. The longitudinal controller, the transverse controller and the heading controller for power positioning ship low-frequency movement can control movement of the ship in three degrees of freedom and take coupling terms, non-linear terms and outside environment disturbance as equivalent disturbance for processing, estimation and compensation are conducted on equivalent disturbance through an extended state observer, and accordingly the ship can be better controlled to be positioned in an expected state.

Description

technical field [0001] The invention belongs to the field of positioning control systems, and in particular relates to a method to solve the problem of nonlinearity and environmental disturbance in the low-frequency motion model of a dynamic positioning ship, and design the longitudinal, lateral, and heading directions on the basis of the equivalent interference compensation theory. Nonlinear Controller Based Equivalent Disturbance Compensation for Ship Dynamic Positioning Control System. Background technique [0002] With the continuous exploration and exploitation of offshore resources, more and more ships are equipped with dynamic positioning control systems. The main purpose of the ship's dynamic positioning control system is to control the ship at a specified position by controlling the ship's driving equipment. The constant change of ocean environment disturbance and the nonlinear problem in the ship motion model increase the difficulty of ship motion control. Theref...

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Problems solved by technology

[0004] According to literature search, the Chinese patent CN103592849A aims at a ship dynamic positioning control method to control the three degrees of freedom of the ship longitudinal, transverse and heading, and uses the generalized predictive controller to control the three degrees of freedom of the longitudinal, transverse and heading directions through the thrust distribution module. The torque of the ship is applied to the dynamic motion model of the ship to control the motion of the ship, but this method does not fully consider the nonlinearity of the ship motion model and the uncertainty of unknown disturbances

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