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Adaptive fault-tolerant control method based on sliding mode quantization output feedback

An output feedback, fault-tolerant control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as limitations

Active Publication Date: 2020-01-14
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

Secondly, the longitudinal velocity, sway velocity and yaw angular velocity of the ship are not always measurable, and the use of state feedback controllers is limited
Moreover, there is a digital signal quantization phenomenon on the connection channel between the controlled object and the controller in the feedback control system, which is worthy of being included in the research problem

Method used

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  • Adaptive fault-tolerant control method based on sliding mode quantization output feedback
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  • Adaptive fault-tolerant control method based on sliding mode quantization output feedback

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Embodiment approach

[0095] The step S1 is specifically:

[0096] S11, define the position vector as η(t)=[x p (t),y p (t),ψ(t)] T , the velocity vector is ν(t)=[ι(t), v(t), r(t)] T , when the heading angle ψ(t) is small enough, the mathematical model of DP ship is:

[0097]

[0098] Among them, M is the system inertia matrix, N is the system damping matrix, and G is used to represent the mooring force matrix;

[0099] Select the system state as x(t)=[η T (t), ν T (t)]T , with a desired position and velocity of x ref =[η ref T ,ν ref T ] T , the state error is e(t)=x(t)-x ref , after the transformation of the state error matrix, the DP control error system is:

[0100]

[0101] Among them, z(t) represents the adjusted output; y(t) represents the measured output; u R (t) represents a control input; w(t) represents the disturbance vector, Indicates the disturbance component; B 0 is the configuration matrix, C 1 、C 2 、D 1 is a known matrix with appropriate dimensions.

[...

Embodiment

[0164] Taking a typical floating production vessel with a length of 200.6 meters and a mass of 73097.15 kilograms as an example, a simulation verification analysis is carried out to illustrate the effectiveness of the designed adaptive sliding mode fault-tolerant control law, and the parameters are as follows:

[0165]

[0166] The thruster failure occurs after 25s, and the thruster failure setting is: complete failure of the main propeller on the port side; 20% failure of the stern slot thruster I; stuck fault of the bow slot thruster, stuck fault value is set to u s (t)=0.2+0.2cos(t); the rest of the thrusters are in normal state.

[0167] Marine environmental disturbance is: w(t)=[w 1 w 2 w 3 ] T

[0168]

[0169] in, K 1 =0.2;K 2 = 0.6; ω 1 = 0.5; ω 2 = 1.6; σ 1 =0.7; σ 2 = 1; V 1 (t) and V 2 (t) represents the white noise of noise value 2 and 1.8 respectively; I 1 =[00 0 1 0 0]; I 2 =[0 0 0 0 1 0]; I 3 =[0 0 0 0 0 1]; x ref =[0 0 0 0 0 2] T . ...

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Abstract

The invention provides an adaptive fault-tolerant control method based on sliding mode quantization output feedback. The method comprises the following steps: constructing a thruster fault model and aDP control system of environmental disturbance, and giving a quantizer model; designing a sliding mode surface and a quantitative adjustment strategy for the constructed DP control system; and designing a sliding mode output feedback fault-tolerant controller and an adaptive law based on the designed sliding mode surface and the quantitative adjustment strategy. The invention provides the adaptive fault-tolerant control method based on sliding mode quantization output feedback for the DP control system with signal quantization, propeller faults and environmental disturbance, and aims to control a DP ship to automatically reach an expected position and heading. Simulation experiment verification is carried out on the thruster fault model, the DP control system of environmental disturbance,the quantizer model, the sliding mode surface and the sliding mode output feedback fault-tolerant controller, which adopt the adaptive fault-tolerant control method based on sliding mode quantizationoutput feedback, and the results show that the method provided by the invention can better ensure the safety and reliability of the DP control system.

Description

technical field [0001] The invention relates to the technical field of ship dynamic positioning control, in particular to an adaptive fault-tolerant control method based on sliding mode quantization output feedback. Background technique [0002] The document "Robust fault tolerant control based on sliding mode method foruncertain linear systems with quantization" (ISA transactions, 2013, vol.52(5)) studies the sliding mode fault-tolerant control of uncertain linear systems, using the full rank decomposition technology of the matrix to construct The sliding mode surface, and the adjustment range of the quantization parameters of the dynamic quantizer are designed to compensate the influence of the actuator failure, quantization error, external disturbance and parameter uncertainty on the system. The document "Finite-time trajectory tracking fault-tolerant control for surface vessel based on time-varying sliding mode" (IEEE Access, 2017, vol.6) designed a surface vessel trajec...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郝立颖于莹李铁山
Owner DALIAN MARITIME UNIVERSITY
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