Ship fin stabilizer sliding mode control method based on disturbance observer

A technology of disturbance observer and control method, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as chattering, achieve reduced wear, strong robustness, and good anti-rolling effect Effect

Active Publication Date: 2017-06-13
CHINA SHIP SCIENTIFIC RESEARCH CENTER (THE 702 INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION)
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, when the state trajectory reaches the sliding surface, it is difficult to strictly slide along the sliding surface toward the equilibrium point, but crosses back and forth on both sides of the sliding surface, resulting in chattering

Method used

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  • Ship fin stabilizer sliding mode control method based on disturbance observer
  • Ship fin stabilizer sliding mode control method based on disturbance observer
  • Ship fin stabilizer sliding mode control method based on disturbance observer

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Embodiment Construction

[0060] figure 1 is the flow chart of the fin stabilizer sliding mode control method. Such as figure 1 As shown, the ship fin stabilizer sliding mode control method based on the disturbance observer of the present invention specifically includes the following steps:

[0061] Step 1, according to the ship parameters, determine the ship roll dynamic equation as follows;

[0062]

[0063] Among them, φ is the rolling angle of the ship; M w is the wave disturbance moment, approximately, the wave disturbance moment M w Proportional to the wave inclination α e , namely M w = cα e , c is the moment coefficient; M c is the ship roll control moment generated by the fin stabilizer, approximately, the ship roll control moment M c and fin stabilizer angle α f linear relationship, that is, M c = bα f , b is the moment coefficient; (I+ΔI) is the sum of the rolling hull inertia moment and additional inertia moment; is the nonlinear damping coefficient model; C(φ) is the hull r...

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Abstract

The invention discloses a ship fin stabilizer sliding mode control method based on a disturbance observer. The method comprises the steps of 1, determining a ship rolling kinetic equation according to a ship parameter; 2, writing a state space form according to the ship kinetic equation, and determining an uncertain item; 3, designing a non-linear disturbance observer, and observing and estimating the uncertain item; 4, designing a siding mode controller with a convergent exponent according to the observed estimation value of the uncertain item in the step 3; and 5, verifying the disturbance observer and stability of a control rate; and verifying stability of a closed loop feedback system formed by the steps 1-4. According to the method provided by the invention, the related disturbance observer can observe disturbance of the ship non-linear motion model and the uncertain item, a control rate can be designed according to the observed disturbance value, and response of the system to disturbance is reduced.

Description

technical field [0001] The invention relates to a control strategy for ship fin stabilizers, in particular to a sliding mode control method for ship fin stabilizers based on a disturbance observer. Background technique [0002] In the operation of ships, safety and comfort are the basic requirements. It is expected that the ship will sail at a small or approximately zero roll angle, which can improve safety and comfort, and ensure the safety of the ship’s precision instruments. In addition, the smaller roll angle provides a great guarantee for the accuracy and safety of warship weapons. The roll angle of the ship is caused by sea waves, and the roll angle of the ship can be reduced by means of stabilizer fins, stabilizer water tanks, bilge keels and other devices. Fin stabilizers are widely used because of their good anti-roll effect in high-speed navigation. [0003] With the deepening of research, control strategies for fin stabilizers are emerging in an endless stream. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 金仲佳顾民张进丰魏纳新
Owner CHINA SHIP SCIENTIFIC RESEARCH CENTER (THE 702 INSTITUTE OF CHINA SHIPBUILDING INDUSTRY CORPORATION)
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