Ship course dynamic surface sliding mode control method based on drift angle compensation

Abstract

The invention discloses a ship course dynamic surface sliding mode control method based on drift angle compensation, and the method is characterized by comprising the steps of pre-filtering an obtained expected course psi r of a ship, and obtaining a filtered reference course psi d and the smooth transition of a course change rate; according to an estimated drift angle value, carrying out correction based on drift angle compensation on an initial course error e = psi h-psi d, wherein the corrected course error is ea, and psi h is the actual course; designing virtual control and instruction filtering to prevent the problem of calculation explosion; defining dynamic errors e1 and e2 according to the corrected course error and the filtered reference course; for instruction filtering in the step S3, calculating compensation tracking errors v1 and v2, and defining a compensation tracking signal according to a system dynamic error to eliminate the influence of the instruction filtering error; and calculating a ship yawing control moment instruction signal tau r according to a sliding mode control rule based on an approaching law, updating the real-time course information, and entering the step S2.

Description

technical field [0001] The invention relates to the technical field of ship course control, in particular to a dynamic surface sliding mode control method for ship course based on drift angle compensation. Background technique [0002] In order to ensure the safety and economy of ships navigating at sea, course control, as the most basic content of ship motion control, has been an important research topic in the field of ship control. At present, most of the ship motion control ignores the influence of drift angle during navigation, and the drift angle causes a certain deviation to the desired heading. In order to compensate the drift angle, the most direct method is to use GPS, accelerometer and other sensors to measure, however, the noise and high cost of the sensors make this method not feasible. In addition, due to mechanical characteristics, there is a saturation constraint problem in the actuator. The rudder saturation problem will not only cause wear and tear on the ...

AI Technical Summary

Problems solved by technology

At present, most of the ship motion control ignores the influence of drift angle during navigation, and the drift angle causes a certain deviation to the desired heading

In order to compensate for the drift angle, the most direct method is to use instruments such as GPS, accelerometers and other sensors to measure, however, the noise and high cost of the sensors make this method not feasible

In addition, due to mechanical characteristics, the actuator has a saturation constraint problem. The rudder saturation problem will not only cause wear on the actuator itself, but also reduce the course tracking performance.

Ship control is a typical underactuated system control. In addition to the influence of sea environment disturbance, the complexity and uncertainty of the ship maneuvering model itself brings great challenges to ship heading control.

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