Dynamic positioning ship control method based on T-S fuzzy system

Abstract

The invention discloses a dynamic positioning ship control method based on a T-S fuzzy system. The method comprises the steps that (1) dynamic positioning system modeling of T-S fuzzy form is carriedout, wherein a dynamic positioning ship mathematical model comprises ship kinematics and dynamics models; (2) a T-S fuzzy observer is designed to estimate the state quantity and unknown disturbance ofa system; and (3) an observer-based controller is designed, and a state feedback controller is designed based on the estimated state quantity of the observer. According to the invention, the application scope of the separation principle of the T-S fuzzy observer-controller is extended; a new separation principle condition is studied; and the system stability is ensured.

Description

technical field [0001] The invention relates to a control method, in particular to a dynamic positioning ship control method based on a T-S fuzzy system. Background technique [0002] With the increase of my country's marine resources and rights and interests, dynamic positioning ships have a broader application prospect in marine engineering. A dynamically positioned ship is a type of engineering ship that automatically maintains its position and heading through propeller thrust. DP technology was produced in the late 1960s to the early 1970s. With the continuous development of society, the human demand for offshore oil and natural gas resources has become more and more urgent, which has made this technology develop by leaps and bounds. The current DP ships have been widely used in many fields of ocean engineering. For example, submarine cable and pipeline laying, oil spill recovery ship, maritime rescue, offshore drilling platform positioning, shuttle cruise ship operati...

AI Technical Summary

Problems solved by technology

[0013] Aiming at the problem of observer-based T-S fuzzy controller, Chang has made in-depth research results on the T-S fuzzy controller of DP ships: Literature [15] puts the state item and control item of the wave high-frequency white noise gain matrix, and then aims at this The input saturation controller is designed for a T-S fuzzy system, and the input saturation term is converted into a control term that is not constrained by the saturation condition through inequality, and a better control effect is obtained; in order to reduce the conservatism of the T-S controller and improve the convergence of the DP controller speed, based on the above-mentioned T-S fuzzy system with white noise, a non-parallel distributed compensation method and a corresponding stability analysis method were proposed [16]; in recent years, an independent white noise term was introduced in the T-S model to represent external disturbances, An input saturation controller improves the robustness of the control system [17], but the high-frequency noise is dominated by low-frequency disturbances, and the controller cannot guarantee the robustness of the system in real marine environments

Images