Second-order preset performance fault-tolerant control method for water surface ship trajectory tracking when propeller breaks down

A trajectory tracking and preset performance technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as strong transient performance constraints, thruster failure, etc., to improve robustness and ensure safety The effect of sex, strong engineering significance

Active Publication Date: 2020-09-11
HARBIN UNIV OF SCI & TECH
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  • Application Information

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Problems solved by technology

[0004] The present invention aims to solve the problem that surface ships are easily constrained by strong transient performance and have thruster failures when performing trajectory tracking tasks, and now provide a second-order preset performance for surface ship track tracking when propellers fail fault-tolerant control method

Method used

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  • Second-order preset performance fault-tolerant control method for water surface ship trajectory tracking when propeller breaks down
  • Second-order preset performance fault-tolerant control method for water surface ship trajectory tracking when propeller breaks down
  • Second-order preset performance fault-tolerant control method for water surface ship trajectory tracking when propeller breaks down

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specific Embodiment approach 1

[0030] Specific implementation mode one: refer to figure 1 and figure 2 This embodiment is specifically described. A second-order preset performance fault-tolerant control method for track tracking of a surface ship when a propeller fails in this embodiment includes the following steps:

[0031] Step 1: First define the north-east coordinate system X that describes the motion of the surface ship E Y E Z E and surface ship hull coordinate system X B Y B Z B . Such as figure 2 shown, where X E Y E Z E The coordinate origin O E at a certain point on the water surface; X B Y B Z B The coordinate origin O B Located at the ship's center of gravity.

[0032] Based on the above coordinate system, the kinematics model, dynamics model, thruster failure model and trajectory tracking error system model of the surface ship are respectively established. Each model is specifically as follows:

[0033] The kinematic model is:

[0034]

[0035] η=[n,e,ψ] T is a 3×1 vect...

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Abstract

The invention discloses a second-order preset performance fault-tolerant control method for water surface ship trajectory tracking when a propeller breaks down, whichrelates to the technical field ofship motion control. The method aims to solve the problems that when a water surface ship executes a trajectory tracking operation task, the water surface ship is prone to being restrained by high transient performance, and propeller faults exist. The method comprises the following steps of establishing a kinematic model, a kinetic model, a propeller fault model and a trajectory tracking error system model of a water surface ship,constructing a performance function and a performance boundary of the trajectory tracking error,defining an intermediate error variable of the trajectory tracking error system, and constructing a performance function and a performance boundary of the intermediate error variable,performing error conversion based on the trajectory tracking error system model and thetwo performance functions to obtain a trajectory order conversion error of the trajectory tracking error and a speed order conversion error of the intermediate error variable,and designing a second-order preset performance trajectory tracking fault-tolerant controller by utilizing the conversion error, and realizing second-order preset performance fault-tolerant control on the water surface shipby utilizing the controller when the propeller fails.

Description

technical field [0001] The invention belongs to the technical field of ship motion control. Background technique [0002] With the continuous expansion and extension of national strategic interests and strategic space to the ocean, and the deployment and implementation of a series of major strategies such as "accelerating the construction of a maritime power", "Made in China 2025" and "21st Century Maritime Silk Road", the development of the marine industry Development has gradually become an important part of national development. Rational development and utilization, effective protection and management of oceans have become major strategic issues for national survival, development and prosperity. In this context, the problem of surface ship trajectory tracking control has received extensive attention from scholars. [0003] For a long time, the research on the track tracking system of surface ships is mainly aimed at the research of the steady-state performance of the sys...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 李鸣阳谢文博赵雪春凌修伟蔣金波
Owner HARBIN UNIV OF SCI & TECH
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