L1 adaptive ship power positioning double-loop control system based on neural network

Abstract

The invention provides an L1 adaptive ship power positioning double-loop control system based on a neural network. The control system comprises a marine ship, an outer ring position tracking loop controller, an L1 adaptive inner loop controller based on a neural network and a path generator. The outer ring position tracking loop controller can track a reference path of the system to obtain a virtual speed instruction; the L1 adaptive inner loop controller based on a neural network comprises an adaptive wavelet neural network approaching device, a state predictor, a parameter adaptive law and an L1 control law; the L1 control law comprises a filter; and the L1 adaptive inner loop controller based on a neural network solves the problem of uncertainty in the system, and approaches a coupling term in the system using a recursive wavelet neural network. The L1 controller introduces a low-pass filter into the feedback loop during feedback, thereby weakening the influence of unknown high-frequency noise in control signals on high-frequency noise. The control system can be applied to control of other ship power positioning systems.

Description

technical field [0001] The invention relates to a control system, in particular to a neural network-based L1 self-adaptive ship dynamic positioning double-loop control system. Background technique [0002] The dynamic positioning system is an achievable function of a ship or an offshore platform. The control system is the core of the dynamic positioning system, so the development of control technology directly represents the development of the dynamic positioning system level. [0003] The six-degree-of-freedom positioning of a ship is a complex nonlinear problem, which has problems such as strong coupling, high nonlinearity, parameter uncertainty, and unknown interference, which will bring great difficulties to the design of the ship's dynamic positioning controller. After years of development, the control technology has also made breakthrough development and progress, from the traditional classic PID control to the control based on modern control theory, and then to the c...

AI Technical Summary

Problems solved by technology

The traditional PID controller has a relatively simple structure and is easy to adjust control parameters, so it has been widely used in ship heading control, but the PID control parameters need to be readjusted according to the actual situation, and inappropriate control parameters will result in poor control Effect

At present, the commonly used linear stochastic optimal control is the LQG control method. When using this method, the online calculation amount of the system is relatively large, and many of the covariance values ​​are difficult to adjust.

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