Ship course trajectory tracking design method based on self-adaptive fuzzy optimal control

An adaptive fuzzy and trajectory tracking technology, which is applied in the direction of adaptive control, general control system, non-electric variable control, etc., can solve the problems of high cost and difficult engineering implementation, controller energy consumption, and slow tracking speed, etc. Energy consumption, increased speed and accuracy, faster tracking effects

Active Publication Date: 2018-12-21
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

However, in most of the current researches, the design method of ship course trajectory tracking is simple and the tracking speed is slow, which leads to the problems of energy consumption of the controller and serious wear and tear of the steering gear. Easy to implement

Method used

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  • Ship course trajectory tracking design method based on self-adaptive fuzzy optimal control
  • Ship course trajectory tracking design method based on self-adaptive fuzzy optimal control
  • Ship course trajectory tracking design method based on self-adaptive fuzzy optimal control

Examples

Experimental program
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Embodiment 1

[0097] Based on the above method, taking the actual ship as an example, computer simulation is carried out. Known: A ship heading discrete nonlinear system mathematical model parameter a 1 = 1,a 2 =30, K=0.2, T=64, designed parameters γ=0.05, γ c = 0.01, β = 0.05. Verify the effectiveness of the control algorithm in this paper. The tracking signal selects a mathematical model that can represent the actual performance requirements:

[0098] φ m (k+2)+0.1φ m (k+1)+0.0025φ m (k) = 0.0025φ r (k) (13)

[0099] In the formula, Ideal system performance for ship heading, is a processed input signal, its value is 0°~30°, and its period is 500s.

[0100] The simulation results of this example are as follows image 3 shown. It can be seen from the figure that the self-adaptive fuzzy optimal algorithm designed by this method, the control system can quickly obtain the expected system output, and has good tracking performance.

[0101] The serial numbers of the above embodim...

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Abstract

The invention provides a ship course trajectory tracking design method based on self-adaptive fuzzy optimal control. For a ship course nonlinear discrete system, an optimal control problem of the shipcourse discrete nonlinear system is solved by applying a fuzzy optimal learning self-adaptive algorithm, the controller energy consumption is effectively reduced, the steering engine abrasion is lowered, and the course tracking speed and precision are improved.

Description

technical field [0001] The present invention relates to the field of ship control technology and manufacturing technology, in particular, to a design method for ship course trajectory tracking based on adaptive fuzzy optimal control. Background technique [0002] Ship motion has the characteristics of large time lag, large inertia, and nonlinearity. Changes in speed and loading produce parameter perturbations in the control model. Factors such as changes in sailing conditions, interference from environmental parameters, and inaccurate measurements all make the ship's course Uncertainty arises in the control system. In response to the problems caused by these nonlinear uncertainties, intelligent algorithms are continuously applied to the field of ship course control, such as adaptive control, robust control, fuzzy adaptive control, iterative sliding mode control, and least parameter learning methods have been applied to ship course control system. However, in most of the cu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/042G05D1/0206
Inventor 李铁山朱丽燕单麒赫陈俊龙左毅
Owner DALIAN MARITIME UNIVERSITY
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