PID control method based on hydrofoil motion attitude

Abstract

The invention provides a PID control method based on the motion attitude of the hydrofoil, and the control quantity provided by the controller is the lift generated by the hydrofoil. The control quantity consists of four parts: the first part is what the output must provide to achieve the desired acceleration; the second part is to compensate the nonlinear term, which is provided by the intelligent adaptive estimator; the third part is to compensate the wave disturbance, which is provided by the wave disturbance estimator ; The fourth part is the PID controller, whose proportional coefficient, integral time constant and differential time constant are provided by the dynamic compensator; the sliding mode controller based on backstepping method is linked with the PID controller based on disturbance compensation through theoretical derivation, and the It is concluded that switching control is equivalent to proportional-integral control, and switching control can be used to realize uncertainty and disturbance compensation. The method of the invention is suitable for nonlinear hull motion attitude control under various sea conditions, especially dynamic conditions.

Description

technical field [0001] The invention relates to a PID control method based on hydrofoil motion attitude, is a PID (proportional-integral-derivative) controller for hydrofoil boat motion attitude disturbance compensation, and belongs to the field of ship control. Background technique [0002] Hydrofoil boats will be affected by various disturbances from the external environment during high-speed navigation, such as random disturbance factors such as waves. These disturbance factors will produce disturbance force and disturbance moment in different directions on the hydrofoil vessel, which will affect the smooth sailing of the hydrofoil vessel during navigation. In order to keep the hydrofoil boat stable, certain measures must be taken to control it. The hydrofoil is a wing-shaped structure that can generate enough lift to support a certain hull weight. [0003] The goal of hydrofoil attitude control is rapidity and accuracy. The requirements for the controller are: under giv...

AI Technical Summary

Problems solved by technology

Many experts have made fruitful contributions to the research on the attitude control of ship lateral motion, but for the attitude control of ship longitudinal motion, the nonlinear problem is usually dealt with by converting the nonlinear model into linear and using linear methods such as Kalman filter. , because the linear system cannot fully reflect some nonlinear characteristics of the control object, there must be a large deviation from the actual model, and there are not many literatures on the nonlinear processing method used in the longitudinal motion attitude control of hydrofoil ships

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