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Self-adaptive stability changing control method and system for stability changing ship and storage medium

A control method and self-adaptive technology, applied in the field of ships, can solve problems such as time-varying uncertainty of ship models, achieve the effect of overcoming control accuracy problems and ensuring variable stability performance

Active Publication Date: 2021-06-22
WUHAN UNIV OF TECH
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Problems solved by technology

The variable stability model using model following has high requirements on the ship model, but the ship model is time-varying and uncertain

Method used

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  • Self-adaptive stability changing control method and system for stability changing ship and storage medium
  • Self-adaptive stability changing control method and system for stability changing ship and storage medium
  • Self-adaptive stability changing control method and system for stability changing ship and storage medium

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Embodiment Construction

[0058] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0059] refer to figure 1 , the present embodiment discloses an adaptive variable stability control method for a variable stability ship, comprising the following steps:

[0060] Step 110, obtaining the position and heading information of the own ship, and obtaining the current forward speed, traverse speed and yaw rate;

[0061] Step 120, calculate the state information of the target ship at time t according to the dynamic model of the target ship;

[0062] Step 130, establishing a stable relative motion model according to the position and heading information of the own ship, the current forward speed and traversing speed of the own ship, the state information of the target ship, and the motion dynamic model of the target ship and the own ship;

[0063] Step 140, obtaining the control rate of the position motion and the control rate of the at...

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Abstract

The invention discloses a self-adaptive stability changing control method and system for a stability changing ship and a storage medium, and relates to the ship technology, and the method comprises the following steps: calculating the state information of a target ship at a moment t according to a motion dynamics model of the target ship; establishing a stable relative motion model according to the position and course information of the ship, the current advancing speed and transverse moving speed of the ship, the state information of the target ship and the motion dynamics model of the target ship and the ship; acquiring a position motion control rate and an attitude motion control rate; designing a forward controller according to the position motion control rate to calculate forward stabilizing force needed by the ship; designing a yaw controller according to the attitude control rate to calculate the stabilizing moment required by the ship; and controlling the ship according to the advancing stabilizing force and the stabilizing moment. The scheme does not depend on a ship model, stability changing control is independent of model damping dynamics, stability changing performance is guaranteed, and meanwhile the problem of control precision caused by interference of external wind wave flow to a control system can be solved.

Description

technical field [0001] The invention relates to ship technology, in particular to a variable stability ship self-adaptive variable stability control method, system and storage medium. Background technique [0002] From conceptual design to actual operation, smart ships need to undergo functional and systematic step-by-step testing and verification to verify the rationality, reliability and integrity of their functions. With the development of smart ships, the driving of ships will gradually be completed by artificial intelligence programs. The verification of artificial intelligence programs is a key link in the testing of smart ships. [0003] The stable ship provides a general verification platform for the artificial intelligence driving program of the ship. The stable ship requires that the state of the own ship is consistent with the state of the target ship. The variable stability model using model following has high requirements on the ship model, but the ship model ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘佳仑谢玲利李诗杰王乐张培
Owner WUHAN UNIV OF TECH
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