Design method of actuator constrained adaptive control system for dynamic positioning vessel

By designing an adaptive control system, the problems of amplitude saturation and failure of the actuators of the dynamically positioned vessel were solved, improving control performance and robustness and ensuring the safe navigation of the vessel.

CN116184817BActive Publication Date: 2026-06-09YICHANG TESTING TECHNIQUE RESEARCH INSTITUTE
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
YICHANG TESTING TECHNIQUE RESEARCH INSTITUTE
Filing Date
2022-11-16
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

In the control process of dynamically positioned vessels, the amplitude saturation and failure of actuators seriously affect the control performance of the vessel and may even lead to accidents. Existing technologies are unable to effectively solve these factors.

Method used

An adaptive control system is designed, including a guidance system, a measurement system, an estimator, an adaptive controller, a saturation compensator, and an actuator. By comprehensively considering the amplitude saturation and failure of the actuator, the control commands are optimized using radial basis neural networks and minimum learning parameter theory to ensure safe navigation of the ship.

Benefits of technology

This technology improves the control performance of dynamically positioned vessels under the constraints of actuators, reduces the saturation time of actuators, enhances control accuracy and robustness, and ensures the safe navigation of the vessels.

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Abstract

The application provides a kind of actuator constrained dynamic positioning ship adaptive control system design method, and guide system according to the position, speed of dynamic positioning ship, and give dynamic positioning adaptive controller;Measurement system measures the real-time position and speed of dynamic positioning ship, and passes to estimator and adaptive controller;Estimator estimates the compound interference that ship receives, and passes the estimated value to ship adaptive controller;Adaptive controller calculates control instruction by synthesizing information, and passes to saturation compensator;Saturation compensator generates and gives saturation compensation signal to adaptive controller, and gives expected control instruction to estimator and actuator is executed by actuator, so that dynamic positioning ship sails along the route planned by guide system;The application comprehensively considers the dynamic uncertainty of ship model of dynamic positioning ship, ocean environment disturbance and the control performance of dynamic positioning ship is improved under the condition of actuator constraint, such as including actuator amplitude saturation and actuator failure.
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