Ship motion self-adaptive sliding mode control method based on time lag fractional order

A self-adaptive sliding mode and self-adaptive control technology, applied in self-adaptive control, non-electric variable control, attitude control, etc., can solve the problems of ship balance control influence, slow control time, etc., to improve accuracy and stability, improve The effect of control efficiency

Active Publication Date: 2020-08-25
JIMEI UNIV +1
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  • Application Information

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Problems solved by technology

[0005] However, according to the investigation of the inventor, the above-mentioned control methods such as ASMC, TDE, and ARC are relatively slow in response to control time, and need to regulate too

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  • Ship motion self-adaptive sliding mode control method based on time lag fractional order
  • Ship motion self-adaptive sliding mode control method based on time lag fractional order
  • Ship motion self-adaptive sliding mode control method based on time lag fractional order

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Embodiment Construction

[0086] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part 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 shall fall within the protection scope of the present invention.

[0087] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate...

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Abstract

The invention discloses a time lag fractional order-based ship motion adaptive sliding mode control method. The method comprises the following steps of S1, establishing a target virtual ship motion model, and setting a mathematical model according to the target virtual ship motion model; S2, solving a state space in the mathematical model in the step S1; S3, solving a state error according to an expected state of a system; S4, substituting a state error in the step S3, and constructing a sliding mode surface function; and S5, approaching uncertainty of the system by using the control input andthe state information at the latest moment, and constructing an adaptive control law to control the sliding mode. The method is advantaged in that by means of the self-adaptive sliding mode control algorithm, the ship can be automatically adjusted when being disturbed, and a stable state of the ship can be rapidly restored.

Description

technical field [0001] The invention relates to the technical field of ship motion balance control, in particular to an adaptive sliding mode control method based on time-delay fractional order ship motion. Background technique [0002] With the rapid development of the world's shipping industry, the requirements for ship navigation safety and modernization are getting higher and higher, so ship navigation control has received extensive attention. In recent decades, various advanced control algorithms for ship control systems have emerged, such as robust control, adaptive control, and various intelligent control methods. However, most of the control methods have not been applied to the actual control system. On the one hand, due to the complexity of the controller design and the heavy calculation burden brought by the advanced control methods, on the other hand, it is highly nonlinear and complex with the ship motion. Sea conditions also have a lot to do with it. [0003] ...

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/042G05D1/0875
Inventor 方琼林薛晗沈金城郭志富李文锋伊富春邵哲平洪长华赵强张锋马峰
Owner JIMEI UNIV
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