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Adaptive tracking control method and adaptive tracking control system for sea-surface all-drive ships

A technology of adaptive tracking and control method, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the limitation of application effect, cannot guarantee that the tracking error signal converges to zero, and cannot give estimation of unknown parameters methods, etc.

Active Publication Date: 2019-04-19
QUFU NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the sea full-drive ship system with output constraints, although the prior art has proposed tracking control methods, the inventors found that these control methods can only ensure that the tracking error signal converges to a bounded area, and cannot guarantee that the tracking error signal converges to zero , thus limiting the actual application effect of the current technology
On the other hand, if the accurate information of some parameters in the system dynamic model cannot be measured, the existing technology cannot provide an estimation method for the unknown parameters

Method used

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  • Adaptive tracking control method and adaptive tracking control system for sea-surface all-drive ships
  • Adaptive tracking control method and adaptive tracking control system for sea-surface all-drive ships
  • Adaptive tracking control method and adaptive tracking control system for sea-surface all-drive ships

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Embodiment 1

[0041]This embodiment discloses an adaptive tracking control method for a sea surface fully driven ship with output constraints, including the following steps:

[0042] Step 1: Obtain the dynamic model of the full-drive ship system on the sea;

[0043] The dynamic equation of the full-drive ship system on the sea surface is described as:

[0044]

[0045] where vector η=[η 1 , η 2 , η 3 ] T =[x,y,ψ] T , v=[v 1 ,v 2 ,v 3 ]=[u,υ,r] T , (x, y) and ψ respectively represent the position coordinates and yaw angle of the ship in the geodetic coordinate system, u, υ, r represent the longitudinal velocity, sway velocity and yaw angular velocity of the ship respectively, τ represents the control input of the system vector, M is a positive definite symmetric inertia matrix, and its specific expression is:

[0046]

[0047] The center and Coriolis moment matrix C(v) is defined as:

[0048]

[0049] in m represents the mass of the hull, x g Indicates the additional m...

Embodiment 2

[0118] The purpose of this embodiment is to provide a control system.

[0119] This embodiment provides an adaptive tracking control system for a sea surface fully driven ship with output constraints, including:

[0120] The model acquisition module acquires the dynamic model of the full-drive ship system on the sea surface;

[0121] The parameter customization module receives the desired target trajectory and output constraint conditions set by the user, wherein the output constraint conditions include trajectory error and ship sway velocity error;

[0122] The control parameter solving module calculates the control parameters of the ship and outputs them to the ship control system according to the output constraints and the dynamic model of the full-drive ship system.

Embodiment 3

[0124] The purpose of this embodiment is to provide a computer device.

[0125] This embodiment provides a computer device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the program, it realizes:

[0126] Obtain the dynamic model of the full-drive ship system on the sea;

[0127] receiving the desired target trajectory and output constraints set by the user, wherein the output constraints include trajectory error and ship sway velocity error;

[0128] According to the output constraints and the dynamic model of the full-drive ship system, ship control parameters are calculated and output to the ship control system.

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Abstract

The invention discloses an adaptive tracking control method and an adaptive tracking control system with output constraints for sea-surface all-drive ships. The adaptive tracking control method includes acquiring sea-surface all-drive ship system dynamic models; receiving expected target trajectories and output constraint conditions which are set by users; computing ship control parameters according to the output constraint conditions and the all-drive ship system dynamic models and outputting the ship control parameters to ship control systems. The output constraint conditions include trajectory errors and ship swaying velocity errors. The adaptive tracking control method and the adaptive tracking control system have the advantages that movement trajectory errors of the ships can be accurately controlled on the basis of the adaptive tracking control method, and accordingly the ships can assuredly move according to given target trajectories.

Description

technical field [0001] The invention belongs to the technical field of ship automatic control, and in particular relates to an adaptive tracking control method and system for a full-drive ship on the sea. Background technique [0002] With the development of marine resources and the rapid development of marine transportation, higher requirements are put forward for the control of ship motion. The purpose of ship motion control is to improve the automation and intelligence level of the ship, so as to effectively ensure the safety, economy and comfort of the ship during navigation. A surface vessel is an all-drive system if it is equipped with main propellers (propellers), rudder units and side thrusters. On the other hand, traditional surface ships are only equipped with main propellers and rudder units, which control the forward speed and heading angle of the ship. Since the hull has no propeller, the longitudinal propulsion generated by the propeller and the torque genera...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张中才程文莉武玉强曹佃国孙玉亮
Owner QUFU NORMAL UNIV
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