A Model-Free Adaptive Heading Control Algorithm of Integral-separated pi-type Compact Format for Ships

Abstract

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. Including the introduction of proportional items on the basis of the compact model-free adaptive control algorithm to form a PI-type CFDL_MFAC algorithm, the discrete form of the proportional item is k p Δe(k); set course deviation threshold e 0 ;Calculate heading deviation e(k), where e(k)=y * (k)‑y(k); when the absolute value of e(k) |e(k)| is greater than the threshold e of the set heading state deviation 1 ; The integral-separation PI_CFDL_MFAC controller calculates the expected input u(k) of the heading system according to e(k); let k=k+1 update the current heading y(k) of the heading ship. The present invention improves the response speed of the system by introducing proportional items into the control algorithm, and at the same time introduces the idea of ​​integral separation into the algorithm, avoiding the system oscillation or even loss caused by integral saturation when the original control algorithm is directly applied to the course control of the ship. The introduction of the idea of ​​separation of proportional terms and integrals expands the application range of CFDL_MFAC theory, so that the ship's heading can quickly and stably converge to the desired heading.

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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