Polar ship positioning control method based on time-varying sliding mode control

Abstract

A polar ship positioning control method based on time-varying sliding mode control, ship dynamic positioning control technology field. In order to solve the technical problem that the existing ship positioning generally relies on PID or fixed gain sliding mode control, and the positioning accuracy and reliability decrease in polar environment. By establishing a ship three degree of freedom motion mathematical model containing multi-source composite disturbance and ice resistance, and combining with the real-time position information of the ship, a time-varying sliding mode surface is constructed, an equivalent controller and a switching controller are designed based on the time-varying sliding mode surface, and a time-varying sliding mode controller is constructed by using the equivalent controller and the switching controller; the expected position information of the ship, the real-time position information of the ship, the real-time estimated value of the multi-source composite disturbance and the ice resistance are input into the time-varying sliding mode controller, the control command for driving the ship is generated, and the propeller system controls the positioning ship according to the control command, so that the ship moves to the expected position. Mainly used for polar ship positioning.

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