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Ship dynamic positioning active disturbance rejection control method based on grey wolf algorithm

A technology of active disturbance rejection control and dynamic positioning, which is applied to electric controllers, controllers with specific characteristics, etc., can solve the problems of difficult adjustment of the parameters of the active disturbance rejection controller, and achieve enhanced ability to resist external disturbances , Reduce the frequency of speed changes, improve the effect of control effect

Pending Publication Date: 2022-03-04
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

[0005] According to the above-mentioned technical problem that the parameters of the ADRC controller in the dynamic positioning system are difficult to adjust, a ship dynamic positioning ADRC control method based on the gray wolf algorithm is provided, which solves the problem that the parameters are difficult to adjust and improves the controller. The control effect

Method used

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  • Ship dynamic positioning active disturbance rejection control method based on grey wolf algorithm
  • Ship dynamic positioning active disturbance rejection control method based on grey wolf algorithm
  • Ship dynamic positioning active disturbance rejection control method based on grey wolf algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0132] The "Beihaijiu 115" ship is used as the test model to conduct simulation experiments to verify the effectiveness of the designed ship dynamic positioning system controller. The correlation coefficient matrix of the ship is as follows:

[0133]

[0134]

[0135] The parameters of the ship dynamic positioning system are set as follows: the initial position and target position of the ship are shown in Table 1; the relevant parameters of the controller are shown in Table 2.

[0136] Initial value of the model in Table 1

[0137]

[0138] The value of each parameter in Table 2

[0139]

[0140] At t=25, step disturbance is added, and the simulation results are as follows Figure 5-8 shown. The results of the simulation experiment show that the ADRS controller of the ship dynamic positioning system provided by the present invention can accurately locate, resist the action of external disturbances, and quickly return to the desired position.

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Abstract

The invention provides a ship dynamic positioning active-disturbance-rejection control method based on a grey wolf algorithm, and the method comprises the steps: building an inertial coordinate system and a ship body coordinate system, and constructing a kinematics mathematical model and a dynamics mathematical model of a ship; establishing a ship dynamic positioning active disturbance rejection control system; designing a grey wolf algorithm; the designed grey wolf algorithm is embedded into a ship dynamic positioning active disturbance rejection control system, and optimal parameters are selected through the designed grey wolf algorithm. According to the technical scheme, the technical problem that parameters of the active-disturbance-rejection controller in the dynamic positioning system are difficult to set is solved, the control effect of the controller is improved, meanwhile, the optimized controller reduces the speed change frequency while guaranteeing the control precision and speed, so that the frequency of rudder deflection swing is reduced, and the control precision of the active-disturbance-rejection controller is improved. Compared with the prior art, damage to the mechanical structure of the power device is reduced, the offset is smaller when encountering sudden disturbance of the outside, the controller is more sensitive in response and can return to the expected position faster, and the capacity of the power positioning system for resisting the disturbance of the outside is enhanced.

Description

technical field [0001] The invention relates to the technical field of a ship dynamic positioning system controller, in particular to a ship dynamic positioning active disturbance rejection control method based on a gray wolf algorithm. Background technique [0002] In recent years, with the development of science and technology, the development of the ocean has become more and more frequent in various countries. Ocean engineering has developed from the coast to the offshore, and now to the far sea. Rescue and salvage, marine biochemical investigation, etc., marine engineering operations have higher and higher requirements for the positioning accuracy and stability of ships and platforms. The traditional anchoring positioning method can only work in shallow seas, the positioning accuracy is not high, and the position conversion The disadvantages such as poor sensitivity are becoming more and more prominent, and it can no longer meet the requirements of modern ocean engineeri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 吴浩峻聂群
Owner DALIAN MARITIME UNIVERSITY
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