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A heading control method for underactuated ships based on desired heading correction

A heading control, underactuated technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve problems such as heading deviation, reduce the heading angle error, avoid the ship deviates from the route, and has fewer parameters.

Active Publication Date: 2022-04-08
SHANGHAI MARITIME UNIVERSITY
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Problems solved by technology

Since the drift angle is not zero, the actual speed direction of the ship is not consistent with the heading in the path tracking, and there is a difference of a drift angle. It can be inferred that there is also a difference of a drift angle between the true direction of motion of the ship and the originally selected tangent direction. , if not corrected, let it continue sailing on the traditionally defined desired course, it will lead to the deviation of the course

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  • A heading control method for underactuated ships based on desired heading correction
  • A heading control method for underactuated ships based on desired heading correction
  • A heading control method for underactuated ships based on desired heading correction

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Embodiment Construction

[0045] The present invention proposes an underactuated ship heading control method based on desired heading correction, which starts with a simplified mathematical model description for the convenience of control design, and then redefines the desired heading after calculating the drift angle, and corrects the dynamic model of the underactuated ship. Aiming at the disturbance existing in the yaw direction, the nonlinear disturbance observer is used to estimate and process it. To ensure the tracking performance, the heading controller is designed based on the backstepping method, and combined with the observer to form a complete control system. Include the following steps:

[0046] Step 1. Establish a 2-DOF underactuated ship mathematical model;

[0047] Assuming that the heave, roll, and pitch motions are negligible, the underactuated ship dynamics model can be simplified to two degrees of freedom motion in the direction of sway and yaw. The mathematical model (in the hull coo...

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Abstract

The present invention proposes an underactuated ship course control method based on desired course correction, which starts from simplifying the mathematical model description for the convenience of control design, redefines the expected course by using drift angle, and corrects the dynamic model of the underactuated ship. Aiming at the disturbance existing in the yaw direction, the nonlinear disturbance observer is used to estimate and process it. In order to ensure the tracking performance, the heading controller is designed based on the backstepping method and combined with the observer to form a complete control system. The control algorithm can improve the underactuation The control performance of the ship's course movement can effectively reduce the course error.

Description

technical field [0001] The invention relates to the field of ship course control, in particular to an underactuated ship course control method based on desired course correction. Background technique [0002] As the most basic ship heading control problem in the field of ship control, many control technologies applied to it have made certain progress and been recognized, but there are still limitations that cannot be ignored. Traditional ships are usually underactuated control systems that only move in the direction of sway and yaw. The ship motion has nonlinear characteristics such as large inertia and large time delay, and it will inevitably be affected by external disturbances such as wind, waves, and currents during navigation. Impact. The complexity of ship motion and the influence of unpredictable random environment are difficult problems to be solved in ship control, so how to control ship course safely and reasonably is one of the most important issues in the field ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陆潇杨刘志全
Owner SHANGHAI MARITIME UNIVERSITY
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