Stability control method for ship-borne three-degree-of-freedom parallel stabilized platform based on adrc
A stable control method and a stable platform technology, applied in the direction of height or depth control, attitude control, etc., can solve problems such as dynamic uncertainty, achieve the effects of suppressing disturbance, reducing costs, and good control effects
Active Publication Date: 2021-08-03
DALIAN MARITIME UNIVERSITY
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Problems solved by technology
[0004] In order to solve the above-mentioned problems existing in the prior art, the present invention proposes a stability control method for a ship-borne three-degree-of-freedom parallel stabilized platform based on ADRC, which can solve the dynamic uncertainty and constantly changing problems of the ship-borne three-degree-of-freedom parallel stabilized platform. Uncertain disturbance caused by ship swaying movement caused by wind and waves to platform, improve anti-interference ability, and enhance system robustness
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[0056] The invention is further described below with reference to the accompanying drawings.
[0057] like figure 1 As shown, the principle of stable control method based on ADRC-based carrier three-degree-freedom in parallel is: the carrier three-degree-freedom parallel stabilization platform is controlled object, and its input signal u is the control input of the carrier three-degree-freedom parallel stabilization platform. Its output signal Y is the actual positional signal of the ship-in-line three-degree-free, and is affected by external disturbance (t), the input signal is input, and the output signal is input to the expansion state. Observer; Expansion Status Observer Depending on the input U and output Y of the carrier three-degree-freedom in parallel platform, it obtains the estimation of the ship-in-line three-degree-of-freedom and stabilized platform position position status and speed state. 1 ,z 2 And the estimated estimation of total disturbance 3 The estimated Zeng Z...
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The invention discloses a stability control method for a ship-borne three-degree-of-freedom parallel stable platform based on ADRC. The dynamic uncertainty of the platform and the uncertainty of the disturbance caused by the swaying motion of the ship caused by the constantly changing wind and waves, and the control scheme of this method is simple in design and easy to implement in engineering. The invention uses the extended state observer to estimate the dynamic uncertainty and disturbance uncertainty of the ship-borne three-degree-of-freedom parallel stable platform well, and is used to suppress the disturbance, especially for the unpredictable existence of the ship-borne three-degree-of-freedom parallel stable platform. A large load object with marine environment disturbance, with good control effect. The good estimation accuracy of the extended state observer not only effectively improves the stability control accuracy of the ship-borne three-degree-of-freedom parallel stable platform, but also saves sensors and reduces the cost of the control system.
Description
Technical field [0001] The present invention relates to the field of ships and marine engineering, in particular, a carrier-based three-degree-freedom (rogue, vertical shaking, and hoe, sliding, sliding, sliding) in ADRC (self-immovable control technology). Background technique [0002] Sea ships are swayed by marine environmental disturbances (shaking, shaking, shaking, horizontal, longitudinal, sliding), affecting the normal operation of equipment on board. Usually, the ship's shake, transverse, and three degree of freedom can be compensated by the ship power positioning system, while hosing, vertical, and sliding motion requires auxiliary system to compensate. The carrier three-degree-freedom (hosted, vertical, and sliding) parallel stabilization platform can isolate the motion and posture of the ship, so that the upper support surface of the ship-in-three degree of freedom and the upper support surface of the marine environment is relatively inertial. Keep relatively stable, ...
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IPC IPC(8): G05D1/04G05D1/08
Inventor 杜佳璐许猛吴瑞许桂贤孙玉清
Owner DALIAN MARITIME UNIVERSITY