Integral separation type PI-Type tight format model free adaptive course control algorithm used for ships

Abstract

The invention belongs to the field of ship motion control, and specifically relates to an integral separation type PI-Type tight format model free adaptive course control algorithm used for ships. Thealgorithm includes the following steps: a proportional item is introduced to form a PI-type CFDL_MFAC algorithm based on the tight format model free adaptive control algorithm, and a discrete form ofthe proportional item is k

.[delta]e(k); a course deviation threshold e<0> is set; a course deviation e(k) is calculated, wherein e(k)=y<*>(k)-y(k); when an absolute value |e(k)| of the e(k) is greater than a threshold e<1> of a set course state deviation; according to the e(k), an integral separation type PI_CFDL_MFAC controller resolves expected input u(k) of a course system; and a formula ofk=k+1 is achieved, and a current course y(k) of a course ship is updated. By introduction of the proportional item in the control algorithm, the response speed of a system is improved; an idea of integral separation is introduced in the algorithm, thus avoiding the problem that an original control algorithm is directly applied to ship course control to cause system oscillation or even instabilitydue to integral saturation; and introduction of the proportional item and the integral separation idea makes an application range of a CFDL_MFAC theory extend, so that a ship course can quickly and stably converge to a desired course.

Description

technical field [0001] The invention belongs to the field of ship motion control, and in particular relates to an integral-separated PI type compact format model-free adaptive heading control algorithm for ships. Background technique [0002] Only by accurately controlling the course of the ship can the ship perform various tasks safely and effectively, such as charting, hydrographic survey, etc. At present, in engineering applications, the control of ship heading basically adopts the PID control algorithm, but the ship is easily affected by model perturbation and environmental interference, which makes it difficult to maintain a consistent PID controller with a set of fixed parameters. control effect, the parameters need to be retuned to make the system stable. However, the controller developed based on the "model-oriented" design strategy relies heavily on the mathematical model of the system. Because it is very difficult to obtain an accurate mathematical model, there ar...

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Problems solved by technology

[0004] Due to the large time lag of the ship heading system and the CFDL_MFAC algorithm is an incremental integral structure, applying the above-mentioned improved CFDL_MFAC algorithm directly to the ship heading control will cause integral saturation, and the ship heading will inevitably have serious problems. Overshoot, and oscillation phenomenon even make the system unstable

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