Anti-interference control method, device and electronic equipment for dynamic positioning ship
A dynamic positioning and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of large amount of calculation, high requirements for the control object model, poor practicability, etc., and achieve simple model structure, Effects of reducing model complexity and control process calculations, improving stability and control accuracy
Active Publication Date: 2021-12-31
LUDONG UNIVERSITY
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Problems solved by technology
Due to the unpredictability of environmental disturbances such as wind, waves, and currents, for actual ship motion, the adaptive control method cannot effectively solve the control problem of the dynamic positioning system, and the traditional PID control cannot meet the requirements of ship control accuracy and stability. , while backstepping control, neural network control, fuzzy control, etc., have high requirements on the control object model and a large amount of calculation, so the practicability is poor
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[0023] Order that the invention object, technical solutions, and advantages of the embodiments more clearly below in conjunction with the present invention in the accompanying drawings, technical solutions in the embodiments will be apparent to the present invention, completely described, obviously, the described embodiments some embodiments of the embodiments of the present invention embodiments, but not all. Based on the embodiments in the embodiment of the present invention, all other embodiments of ordinary skill in the art without creative efforts shall fall within the protection scope of embodiments of the present invention.
[0024] Embodiments of the invention or the prior art control accuracy is not high, and poor stability, computational complexity, or cost of computation for dynamic positioning of the vessel receiving the influence of wind, waves and currents and other environmental interference, interference by analyzing the external environment, to establish ship unkn...
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An embodiment of the present invention provides an anti-jamming control method, device and electronic equipment for a dynamic positioning ship, wherein the method includes: by analyzing the motion characteristics and dynamic characteristics of the dynamic positioning ship, considering the environment of ocean wind, waves and currents, etc. interference, establishing a state space mathematical model of the dynamic positioning ship; based on the state space mathematical model, designing a disturbance observer and using it to obtain an estimated amount of external environment interference of the dynamic positioning ship; based on the external environment interference prediction Estimating, designing an anti-jamming controller, and obtaining an anti-jamming control closed-loop system based on the anti-jamming controller, the state space mathematical model and the external environment disturbance estimate; based on the anti-jamming control closed-loop system, An anti-interference control based on interference compensation is performed on the dynamic positioning ship. The embodiments of the present invention effectively reduce the complexity of the model and the calculation amount of the control process while ensuring control accuracy and control stability.
Description
Technical field [0001] Example embodiments relate to ship location technical field of the present invention, more specifically, it relates to interference control method, an electronic device with a power means positioned vessel. Background technique [0002] Dynamic Positioning System (Dynamic Positioning System, DPS) refers to rely on its own dynamic positioning vessel propulsion device generates a thrust, so that the ship maintain a certain attitude control or navigation system along a constant locus. Dynamic Positioning system has been widely used in ships, drilling platforms and supply vessels and achieved good results. [0003] However, the ship sailed affected by interference from the surrounding marine environment in the marine environment, such as wind, wave, current and other uncertainties of the marine environment. Currently, in order to overcome these effects, the control method for ship Dynamic Positioning System main adaptive control, PID control, backstepping contr...
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IPC IPC(8): G05B13/04
Inventor 魏新江魏永丽岳峻张慧凤由丽宏胡鑫韩建
Owner LUDONG UNIVERSITY