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A non-incremental model-free adaptive heading control method for ships

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: 2021-11-30
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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  • A non-incremental model-free adaptive heading control method for ships
  • A non-incremental model-free adaptive heading control method for ships
  • A non-incremental model-free adaptive heading control method for ships

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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

A non-incremental model-free adaptive heading control method for ships relates to the technical field of automatic motion control of ships. The invention aims to solve the problem that the stability of the system will be reduced when the MFAC is directly applied to the non-self-balancing system. The present invention introduces an input-output coupling adaptive compensation item on the basis of the original MFAC criterion function, and then redesigns the control law to offset the integral influence of the controlled system, so that the improved algorithm can be applied to non-autonomous balancing such as ship heading control system. At the same time, the relative coefficient term introduced in the control law adaptively adjusts its weight ratio in the control law, thereby increasing the system's ability to resist external large disturbances and model mutations. And, the weight coefficient k of the adaptive compensation term r The introduction of the algorithm 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...

Claims

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Application Information

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Patent Type & Authority Patents(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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