Ship path tracking event trigger control method based on zero-order holder

Abstract

The invention discloses a ship path tracking event trigger control method based on a zero-order holder. The method comprises the following steps: storing a ship state vector, a control law and an adaptive law at a previous trigger moment by using the zero-order holder; and constructing a concise event triggering mechanism according to the acquired ship state information and the ship state information stored in the zero-order holder. When an event triggering mechanism is satisfied, the system outputs the ship state vector, the control law and the adaptive law stored in the zero-order holder. When the event triggering mechanism is not met, the controller is triggered, and the ship state vector, the control law and the adaptive law stored in the zero-order holder are updated and outputted. Therefore, the problems of communication channel blocking and actuator faults in ship path tracking control are solved through a fault-tolerant mechanism based on event triggering.

Description

technical field [0001] The invention relates to the application fields of ship control engineering and ship autonomous navigation equipment, in particular to a zero-order holder-based ship path tracking event trigger control method. Background technique [0002] Path following control is an important application in the field of ship motion control. Although the existing research has achieved rich results, there are still a series of problems to be solved urgently in theoretical design and engineering practice. For example, due to the blockage of the ship's communication network and the excessive wear of the actuator, unknown failures often occur in the ship's actuators. Due to the continuous output control signal of the traditional path-following control system, the actuators equipped with the ship are constantly and frequently responding to cause the mechanical wear of the actuator, and the uninterrupted signal transmission will excessively occupy the limited communication...

AI Technical Summary

Problems solved by technology

In addition, the control signal output by the controller is frequently transmitted to the actuator, which is likely to cause blockage of the communication channel on the ship and unnecessary actions of the actuator, which increases the wear and tear of the actuator and causes a waste of limited communication energy.

[0005] Second, it does not consider the possible actuator failure of the ship

With the large-scale and modern development of ships, the control system has a large number of instruments and increased complexity, and the number of actuator failures has increased significantly. The safety and reliability of ships are facing great challenges.

In addition, the failure of the actuator may lead to a decrease in the performance of the control system, or even cause a system crash, which has a huge impact on the safe navigation of the ship

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