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Non-incremental model-free adaptive heading control method for ship

A model-free self-adaptive, control method technology, applied in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc., can solve problems such as reducing system stability, and increase the flexibility of adjustment , the effect of increasing the ability of the model to mutate

Active Publication Date: 2021-07-13
HARBIN ENG UNIV
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Problems solved by technology

[0004] The present invention aims to solve the problem that the stability of the system will be reduced when MFAC is directly applied to a non-self-balancing system, and now provides a non-incremental model-free adaptive heading control method for ships

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  • Non-incremental model-free adaptive heading control method for ship
  • Non-incremental model-free adaptive heading control method for ship
  • Non-incremental model-free adaptive heading control method for ship

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specific Embodiment approach 1

[0039] Specific implementation mode one: refer to figure 1 and figure 2 This embodiment is described in detail. A non-incremental model-free adaptive heading control method for a ship described in this embodiment includes the following steps:

[0040] Step 1: Introduce the input-output coupling adaptive compensation item into the model-free adaptive control input solution criterion function of the ship control system to obtain the non-incremental control input solution criterion function.

[0041] Specifically, the non-incremental control input solution criterion function is denoted as J[·], and the input of this function is u(k), k r Δy(k+1)u(k-1) is the input-output coupling adaptive compensation item, then:

[0042] J[u(k)]=[y * (k+1)-y(k+1)] 2 +λ[u(k)-u(k-1)] 2 +k r Δy(k+1) u(k-1),

[0043] Among them, u(k) and y(k) are the rudder angle and heading angle at time k, respectively, and are used as the input information and output information of the ship control system, ...

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Abstract

The invention discloses a non-incremental model-free adaptive heading control method for a ship, and relates to the technical field of automatic motion control of ships. The invention aims to solve the problem that when an MFAC is directly applied to a non-self-balancing system, the stability of the system is reduced. According to the method, an input and output coupling adaptive compensation item is introduced on the basis of an original MFAC criterion function, so that a control law is redesigned, the integral influence of a controlled system is counteracted, and the improved algorithm can be applied to non-self-balancing systems such as ship heading control. Meanwhile, related coefficient terms are introduced into the control law, and the weight ratio of the coefficient terms in the control law is adjusted in a self-adaptive mode, so that the capacity of the system for resisting external large disturbance interference and model mutation is improved. Moreover, the introduction of the weight coefficient kr of the adaptive compensation item also increases the adjustable flexibility of the algorithm.

Description

technical field [0001] The invention belongs to the technical field of automatic motion control of ships. Background technique [0002] Good heading control is one of the necessary conditions for a ship to complete various tasks, but because the movement of a ship usually has the characteristics of underactuation, large time lag, etc., and it is easily disturbed by wind, waves and currents during navigation, and The huge change of its own hydrodynamic characteristics when performing tasks makes the conventional motion control strategy oriented by mathematical models unsuitable. [0003] Model-Free Adaptive Control (MFAC) is a control method that does not depend on the mathematical model of the controlled object and only relies on the dynamic input and output (I / O) data of the system. However, since the ship heading control is a non-self-balancing system, it contains an integral link that can reduce the stability of the system. The specific performance is that under the acti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 廖煜雷裴华仁杜廷朋王博贾琪谷秋实李晔
Owner HARBIN ENG UNIV
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