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

A dynamic positioning and fuzzy system technology, applied in the field of control, can solve problems such as the inability to guarantee the robustness of the system, and achieve the effect of ensuring stability

Inactive Publication Date: 2018-01-09
HARBIN UNIV OF SCI & TECH
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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 impro

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  • Dynamic positioning ship control method based on T-S fuzzy system
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[0021] The following clearly and completely describes the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0022]In an embodiment of the present invention, a method for controlling a dynamic positioning ship based on a T-S fuzzy system includes the following steps: (1) modeling of a dynamic positioning system in a T-S fuzzy form: the mathematical model of a dynamic positioning ship includes a ship kinematics and a dynamic model; (2) T-S fuzzy observer design: design an observer to estimate the state quantity and unknown disturbance of the system; (3) Observer-based controller design: design a state feedback controller based on the state e...

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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...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 谢文博闫玲亚
Owner HARBIN UNIV OF SCI & TECH
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