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Design method of heading trajectory tracking for intelligent ship autopilot system based on fuzzy state observer

A technology of fuzzy state and design method, which is applied in control/adjustment systems, two-dimensional position/channel control, instruments, etc., can solve the problems of high use cost, difficult engineering realization, unknown rudder angle change information of ship heading system, etc. The effect of reducing dependencies, increasing speed and accuracy

Active Publication Date: 2022-04-01
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

However, in practical engineering applications, the rudder angle change information of the ship heading system is mostly unknown
The existing technology considers that the actual performance requirements of the ship heading control are less, and the use cost is high and it is not easy to realize the engineering

Method used

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  • Design method of heading trajectory tracking for intelligent ship autopilot system based on fuzzy state observer
  • Design method of heading trajectory tracking for intelligent ship autopilot system based on fuzzy state observer
  • Design method of heading trajectory tracking for intelligent ship autopilot system based on fuzzy state observer

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Embodiment Construction

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0053] Such as figure 1 , figure 2 As shown, the present invention discloses a method for designing a heading track tracking of an intelligent ship autopilot system based on a fuzzy state observer, which specifically includes the following steps,

[0054] The first step is to establish the mathematical model of the intelligent ship autopil...

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Abstract

The invention provides a fuzzy state observer-based intelligent ship autopilot system heading trajectory tracking design method, which belongs to the technical field of ship control. The method aims at the intelligent ship automatic rudder system and uses the fuzzy state observer to solve the problem of the ship intelligent ship automatic rudder system. The output feedback control problem of the system effectively reduces the need to know all the state information of the system, and improves the heading tracking speed and accuracy.

Description

technical field [0001] The invention relates to the field of ship control technology and manufacturing, in particular to a fuzzy state observer-based design method for heading track tracking of an automatic steering system of an intelligent ship. Background technique [0002] Ship motion has the characteristics of large time lag, large inertia, and nonlinearity. Changes in speed and loading lead to parameter perturbation problems in the control model. Changes in sailing conditions, interference from environmental parameters, and inaccurate measurements all make ship heading control difficult. The system creates uncertainty. Faced with the problems caused by these nonlinear uncertainties, intelligent algorithms emerged as the times require, and have been continuously applied in the field of ship heading control, such as adaptive control, robust control, fuzzy adaptive control, iterative sliding mode control, and least parameter learning methods Wait. At present, most ship h...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 李铁山朱丽燕单麒赫陈俊龙肖杨左毅武越
Owner DALIAN MARITIME UNIVERSITY
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