A dynamic event-triggered fault-tolerant disturbance rejection control method for shipborne heave compensation platforms

Abstract

This invention belongs to the field of shipborne platform motion compensation control technology, specifically relating to a dynamic event-triggered fault-tolerant disturbance rejection control method for shipborne heave compensation platforms. Addressing the unknown disturbances, actuator failures, input saturation, and unmodeled dynamic problems in heave, roll, and pitch stability control under complex marine environments, this method combines disturbance observation, fault observation, saturation compensation, robust compensation, and backstepping control to construct a fault-tolerant disturbance rejection controller, and updates the control input through a dynamic event-triggered mechanism. Compared with existing technologies, the dynamic event-triggered fault-tolerant disturbance rejection control method proposed in this invention can estimate and compensate for disturbances and faults online, reduce actuator operating frequency, alleviate communication burden, and improve platform stability, disturbance rejection, and fault-tolerant reliability.

Description

Technical Field

[0001] This invention belongs to the field of motion compensation control technology for shipborne platforms, specifically relating to a dynamic event-triggered fault-tolerant disturbance rejection control method for shipborne heave compensation platforms. Background Technology

[0002] With the continuous development of shipborne operational equipment, the focus of shipborne platform control has expanded from simple hull motion suppression to high-precision attitude stabilization and motion compensation oriented towards mission loads. For maritime vessels, unpredictable marine environmental disturbances are a fundamental challenge that shipborne heave compensation platforms must address. Under the influence of external factors such as wind, waves, and currents, the hull experiences heave, roll, and pitch motions, which are transmitted to the heave compensation platform through the ship's structure, thus affecting the platform's attitude stability and operational accuracy. Some existing disturbance rejection control methods typically rely on relatively accurate dynamic models; however, shipborne heave compensation platforms are typical nonlinear and uncertain systems, whose dynamic characteristics are easily affected by hull motion transmission, load changes, actuator characteristic variations, and marine environmental disturbances, making accurate modeling extremely difficult. Controllers designed based on inaccurate or outdated model parameters may experience a significant decrease in control performance, and may even struggle to guarantee closed-loop system stability. Model uncertainty and unknown marine disturbances have become critical issues that urgently need to be addressed in the robust disturbance rejection control of shipborne heave compensation platforms.

[0003] Furthermore, in practical engineering applications, shipborne heave compensation platforms are also limited by factors such as actuator failure and input saturation. Actuators operate for extended periods in complex sea states and high-frequency environments, potentially experiencing decreased output efficiency, unknown time-varying faults, or control torque deviations, causing the actual control input to deviate from the desired control command. Simultaneously, due to physical structure and power limitations, the actuator's output control force and torque have upper bounds. Input saturation weakens the controller's adjustment capabilities and may further amplify the impact of disturbances and faults on platform stability. If the controller fails to simultaneously consider external disturbances, actuator failures, input saturation, and unmodeled dynamics, it becomes difficult to achieve reliable and stable control of heave, roll, and pitch motions in complex sea states.

[0004] Besides control accuracy and fault tolerance, reducing control signal transmission and frequent actuator movements is another bottleneck that urgently needs to be overcome in shipborne platform control. Traditional continuous control methods typically require continuous updates to the control input, which can easily lead to high-frequency changes in the control signal under complex sea conditions. This not only increases the communication burden but also exacerbates actuator wear and reduces the long-term reliability of the platform control system. Event-triggered control can reduce unnecessary control updates, but existing methods mostly focus on single disturbance suppression or conventional stability control, and have not fully considered the synergistic effect of dynamic event triggering mechanisms with disturbance observation, fault observation, input saturation compensation, and robust compensation in shipborne heave compensation platforms. Therefore, a dynamic event-triggered fault-tolerant disturbance rejection control method for shipborne heave compensation platforms is proposed. Summary of the Invention

[0005] To overcome the problems in the prior art, this invention proposes a dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: This invention proposes a dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform, comprising the following steps: Step 100: Based on the heave displacement, roll angle and pitch angle information of the shipborne heave compensation platform, establish a three-degree-of-freedom dynamic model of the shipborne heave compensation platform that includes unknown time-varying disturbances of the marine environment, unknown time-varying faults of actuators and unmodeled dynamics. Step 200: Establish the actuator input saturation model and define the control deviation caused by input saturation; Step 300: Design a disturbance observer to estimate the external disturbance force and disturbance moment experienced by the shipborne heave compensation platform in real time; Step 400: Design a fault observer to estimate the actuator fault force and fault torque in real time; Step 500: Based on the actuator input saturation model and the control deviation caused by the defined input saturation, design an auxiliary dynamic compensation system. Based on the desired position and attitude vectors and the auxiliary state variables of the auxiliary dynamic compensation system, construct the stable control error variables of the shipborne heave compensation platform, and construct a virtual control vector using the backstepping control method according to the stable control error variables. Step 600: Based on the disturbance observer, fault observer, auxiliary dynamic compensation system, the stability control error variable and virtual control vector, design a fault-tolerant disturbance-resistant stability controller for the shipborne heave compensation platform, so that the fault-tolerant disturbance-resistant stability controller outputs continuous control commands; Step 700: Introduce a robust compensation term into the fault-tolerant disturbance rejection stability controller and adaptively estimate the bounded upper bound of the unmodeled dynamics; Step 800: Design a dynamic event triggering mechanism to intermittently update and maintain the control signal output by the fault-tolerant and disturbance-resistant stable controller, and apply the updated control signal to the actuator input saturation stage; Step 900: Design the disturbance observer gain matrix, fault observer gain matrix, auxiliary dynamic compensation system gain matrix, controller gain matrix, robust compensation parameters, and dynamic event triggering parameters to stabilize the heave, roll, and pitch motions of the shipborne heave compensation platform within the desired range.

[0007] Further, in step 100, a three-degree-of-freedom dynamic model of the shipborne heave compensation platform is established, incorporating unknown time-varying disturbances in the marine environment, unknown time-varying faults of the actuators, and unmodeled dynamics, including: Define the position and attitude vector of the shipborne heave compensation platform. for: ; In the above formula, This indicates the heave displacement of the shipborne heave compensation platform. Indicates the roll angle. Indicates the pitch angle; The three-degree-of-freedom dynamic model of the shipborne heave compensation platform is established as follows: ; In the above formula, The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; Represents the Coriolis and centripetal force matrices; Represents the gravity vector; This represents the actual control input vector of the actuator; Represents the unknown time-varying perturbation force and perturbation moment vector induced by the marine environment; This represents the actuator's unknown time-varying fault vector; This represents the unmodeled dynamic vector caused by model uncertainty; Indicates the position and attitude vector of the shipborne heave compensation platform. The first derivative with respect to time; Indicates the position and attitude vector of the shipborne heave compensation platform. The second derivative with respect to time.

[0008] Further, in step 200, an actuator input saturation model is established, and the control deviation caused by input saturation is defined, including: Define the continuous control commands output by the fault-tolerant disturbance rejection stability controller. for: ; In the above formula, , and These represent the continuous control commands calculated by the controller in the heave, roll, and pitch channels, respectively. Control input after actuator saturation for: ; Among them, the The saturation function for each actuator channel is: ; In the above formula, Indicates the first The upper limit of saturation for each actuator channel; Define the control deviation caused by actuator input saturation. for: .

[0009] Furthermore, in step 300, a disturbance observer is designed to estimate the external disturbance force and disturbance moment experienced by the shipborne heave compensation platform in real time, including: ; ; In the above formula, Represents the unknown time-varying perturbation force and perturbation moment vector induced by the marine environment. The estimated value; This represents the auxiliary intermediate vector generated during the design of the disturbance observer; The matrix representing the design parameters of a positive definite symmetric disturbance observer; This represents the estimated value of the actuator failure. The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; Represents the Coriolis and centripetal force matrices; Represents the gravity vector; This represents the actual control input vector of the actuator; This represents the first derivative of the position and orientation of the shipborne heave compensation platform; Let represent the observation gain matrix of the perturbation observer, and satisfy: .

[0010] Furthermore, in step 400, a fault observer is designed to estimate the actuator fault force and fault torque in real time, including: ; ; In the above formula, Represents the unknown time-varying fault vector of the actuator The estimated value; This represents the auxiliary intermediate vector generated during the design of the fault observer; The matrix representing the design parameters of a positive definite symmetric fault observer; The derivative of the inertia matrix of the shipborne heave compensation platform; Represents the Coriolis and centripetal force matrices; Represents the gravity vector; This represents the actual control input vector of the actuator; This represents the first derivative of the position and orientation of the shipborne heave compensation platform; Let represent the observation gain matrix of the fault observer, and satisfy: .

[0011] Further, in step 500, based on the actuator input saturation model and the control deviation caused by the defined input saturation, an auxiliary dynamic compensation system is designed. Based on the desired position and attitude vectors and the auxiliary state variables of the auxiliary dynamic compensation system, a stable control error variable for the shipborne heave compensation platform is constructed. A virtual control vector is then constructed using a backstepping control method based on the stable control error variable, including: Define the desired position and attitude vector of the shipborne heave compensation platform. for: ; In the above formula, Indicates the expected heave displacement; Indicates the desired roll angle; Indicates the desired pitch angle; Define the first and second stability control error variables of the shipborne heave compensation platform as follows: ; ; In the above formula, This represents the position and attitude compensation error variables of the shipborne heave compensation platform; Indicates the speed compensation error variable; This represents the virtual control vector in backstep control design; and This represents the saturation auxiliary state variable introduced during the actuator input saturation compensation process; This represents the position and attitude vector of the shipborne heave compensation platform; This represents the first derivative of the position and orientation of the shipborne heave compensation platform; The design of the actuator input saturation auxiliary dynamic compensation system is as follows: ; ; In the above formula, and Representing saturated auxiliary state variables respectively and The derivative with respect to time; and All are positive definite design parameter matrices; This indicates the control deviation caused by input saturation; The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; Design a virtual control vector based on the backstepping control method: ; In the above formula, Indicates the first stable control error variable Constructed virtual control vector; It represents the first derivative of the desired position and attitude vector.

[0012] Further, in step 600, based on the disturbance observer, fault observer, auxiliary dynamic compensation system, the stability control error variable, and virtual control vector, a fault-tolerant disturbance-resistant stability controller for the shipborne heave compensation platform is designed, enabling the fault-tolerant disturbance-resistant stability controller to output continuous control commands, including: ; In the above formula, This indicates the continuous control commands output by the fault-tolerant disturbance rejection stability controller; This represents the estimated marine environmental disturbance output by the disturbance observer; This represents the actuator fault estimate output by the fault observer; Indicates the robust compensation term; The design parameter matrix is ​​positive definite. This represents the position and attitude compensation error variables of the shipborne heave compensation platform; The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; The derivative of the virtual control vector in backstep control design; Represents the Coriolis and centripetal force matrices; This represents the virtual control vector in backstep control design; This represents the saturation auxiliary state variable introduced during the actuator input saturation compensation process; Represents the gravity vector; This represents the speed compensation error variable.

[0013] Furthermore, in step 700, a robust compensation term is introduced into the fault-tolerant disturbance rejection stability controller, and an adaptive estimation of the bounded upper bound of the unmodeled dynamics is performed, including: ; ; In the above formula, Indicates the robust compensation term; Indicates the speed compensation error variable; This represents an estimate of the unmodeled dynamically bounded upper bound; , and All are positive design parameters.

[0014] Furthermore, in step 800, a dynamic event triggering mechanism is designed to intermittently update and maintain the control signal output by the fault-tolerant and disturbance-resistant stability controller, and to apply the updated control signal to the actuator input saturation stage, including: Define the control signal that is retained after a dynamic event is triggered as follows: ; In the above formula, This indicates the control signal that is retained after the dynamic event triggering mechanism takes effect; Indicates the time of triggering Continuous control commands; Indicates the time of the next control signal update; Define the control signal measurement error as: ; In the above formula, Indicates to hold control signal With the current continuous control command The error between; The dynamic event triggering time is designed as follows: ; The internal dynamic variables are designed as follows: ; In the above formula, This represents an internal dynamic variable in the dynamic event triggering mechanism; Represents internal dynamic variables The derivative with respect to time; , and All are dynamic event-triggered design parameters; By maintaining the control signal input to the actuator saturation stage, the actual control input of the shipborne heave compensation platform is obtained as follows: ; in, Input a saturation function to the actuator.

[0015] Further, in step 900, the design of the disturbance observer gain matrix, fault observer gain matrix, auxiliary dynamic compensation system gain matrix, controller gain matrix, robust compensation parameters, and dynamic event triggering parameters includes: ; ; in, , All are positive definite design matrices. The observation gain matrix for the perturbation observer. The gain matrix for the fault observer; The auxiliary dynamic compensation system gain matrix and controller gain matrix are set to satisfy... , ,in , Used to adjust the stability control error variable, the input saturation auxiliary state variable, and the convergence performance of the control input signal; Set robust compensation parameters to meet the requirements. , , , ; Set dynamic event trigger parameters to meet the following requirements: , , ,in , and Design parameters for robust compensation terms. , and Design parameters for the dynamic event triggering mechanism; By adjusting the above parameters, the disturbance estimation error, fault estimation error, position and attitude error, velocity error, unmodeled dynamic upper bound estimation error, and control input signal are kept bounded, thereby achieving fault-tolerant and disturbance-resistant stable control of the shipborne heave compensation platform under the combined effects of actuator failure, input saturation, marine environmental disturbance, and unmodeled dynamics.

[0016] Compared with the prior art, the present invention has the following technical effects: (1) In view of the unknown time-varying ocean disturbances and unknown time-varying actuator faults experienced by the shipborne heave compensation platform, the present invention designs disturbance observers and fault observers respectively to realize online estimation of disturbance force, disturbance torque and fault force and fault torque, and introduces the estimation results into the control law for compensation, thereby improving the platform's anti-disturbance capability and fault tolerance capability under complex sea conditions.

[0017] (2) This invention considers the actuator input saturation constraint and designs an auxiliary dynamic compensation system to weaken the control deviation caused by input saturation, avoid the physical constraints of the actuator from causing a significant decrease in the platform's stable control performance, and improve the applicability of the control method under actual actuator-constrained conditions.

[0018] (3) The present invention introduces a robust compensation term in the fault-tolerant disturbance-resistant stability controller, which can weaken the influence of unmodeled dynamics and bounded uncertainties on the stability of the closed-loop system, so that the heave, roll and pitch motion of the shipborne heave compensation platform is stabilized within the desired range, thereby improving the robust stability performance of the system.

[0019] (4) The present invention introduces a dynamic event triggering mechanism, which enables the control signal to be updated only when the triggering conditions are met, and maintains the control input between adjacent triggering times, thereby reducing unnecessary continuous control updates, reducing actuator wear and communication burden, and improving the safety, reliability and engineering applicability of the offshore launch vessel operation process. Attached Figure Description

[0020] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of the control method of the present invention; Figure 2 The above are the heave displacement, roll angle, and pitch angle response curves of the shipborne heave compensation platform in this embodiment of the invention. Figure 3 The above are the heave rate, roll rate, and pitch rate response curves of the shipborne heave compensation platform in this embodiment of the invention. Figure 4 This is the adaptive estimated response curve for an unmodeled dynamic bounded upper bound in this embodiment of the invention; Figure 5 The above is the robust compensation control signal response curve in an embodiment of the present invention; Figure 6 This is the continuous control command response curve output by the fault-tolerant and disturbance-resistant stability controller in this embodiment of the invention; Figure 7 This is a comparison curve of marine environmental disturbance and disturbance observer estimates in an embodiment of the present invention; Figure 8 This is a comparison curve of actuator fault and fault observer estimate in an embodiment of the present invention; Figure 9 This is the actual control input signal response curve of the actuator in this embodiment of the invention; Figure 10 This is a curve showing the dynamic event triggering time and triggering interval in an embodiment of the present invention. Detailed Implementation

[0022] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the specific implementation methods, structures, features, and effects of the technical solutions proposed according to the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. Specific features, structures, or characteristics in one or more embodiments may be combined in any suitable form. Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0023] The purpose of this invention is to provide a dynamic event-triggered fault-tolerant and disturbance-resistant control method for a shipborne heave compensation platform. By optimizing the update method of the control strategy under the constraints of communication resources and actuator action resources through a dynamic event triggering mechanism, a stable control method for a shipborne heave compensation platform that takes into account disturbance suppression, fault compensation, input saturation processing and resource conservation is formed.

[0024] This invention's control method primarily addresses the three-degree-of-freedom stability control problem of a shipborne heave compensation platform in a complex marine environment. It employs disturbance observers, fault observers, an input saturation-assisted dynamic compensation system, robust compensation terms, backstepping control methods, and a dynamic event triggering mechanism to solve the stability control problem of the shipborne heave compensation platform under the combined effects of unknown marine environmental disturbances, unknown time-varying actuator faults, actuator input saturation, and unmodeled dynamics. This method meets the fault-tolerant and disturbance-resistant control requirements for the platform's heave, roll, and pitch motions under complex operating conditions, and reduces frequent actuator actions and communication burden caused by continuous control input updates through the dynamic event triggering mechanism. The proposed dynamic event-triggered fault-tolerant disturbance rejection control method compensates for disturbances and faults, and weakens the impact of input saturation and uncertainty on platform stability control, effectively enhancing the disturbance rejection capability, fault tolerance capability, and robust stability performance of the shipborne heave compensation platform. Disturbance observers and fault observers are used to achieve online estimation of external marine environmental disturbances and internal actuator faults, respectively, avoiding reliance on direct measurement of disturbance and fault information. An input saturation-assisted dynamic compensation system is used to weaken control deviations caused by actuator physical constraints. A dynamic event-triggered mechanism is used to intermittently update the control signal, reducing actuator wear and control system communication resource consumption, enabling the shipborne heave compensation platform to achieve heave, roll, and pitch stability control requirements under optimized control update strategies.

[0025] Figure 1 The flowchart of the control method of the present invention is as follows: Figure 1 As shown, in one embodiment of the present invention, a dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform is provided, comprising the following steps: Step 100: Based on the heave displacement, roll angle and pitch angle information of the shipborne heave compensation platform, establish a three-degree-of-freedom dynamic model of the shipborne heave compensation platform that includes marine environmental disturbances, actuator failures and unmodeled dynamics. Step 200: Considering the physical constraints of the actuator of the shipborne heave compensation platform, establish the actuator input saturation model and define the control deviation caused by input saturation. The control deviation is used for subsequent auxiliary dynamic compensation system. Step 300: To address the unknown time-varying disturbances experienced by the shipborne heave compensation platform in the marine environment, a disturbance observer is designed to estimate the external disturbance force and disturbance moment experienced by the shipborne heave compensation platform in real time, and the disturbance estimate is used for disturbance compensation in the subsequent fault-tolerant disturbance rejection stability controller. Step 400: For the unknown time-varying faults generated by the actuators of the shipborne heave compensation platform during operation, design a fault observer to estimate the fault force and fault torque of the actuators in real time, and use the fault estimate for fault compensation of the subsequent fault-tolerant disturbance rejection stability controller. Step 500: Based on the actuator input saturation model and the control deviation caused by the defined input saturation, design an auxiliary dynamic compensation system. Based on the desired position and attitude vectors and the auxiliary state variables of the auxiliary dynamic compensation system, construct the stable control error variables of the shipborne heave compensation platform, and construct a virtual control vector using the backstepping control method according to the stable control error variables. Step 600: Based on the disturbance observer, fault observer, auxiliary dynamic compensation system, the stability control error variable and virtual control vector, design a fault-tolerant disturbance-resistant stability controller for the shipborne heave compensation platform, so that the fault-tolerant disturbance-resistant stability controller outputs continuous control commands, the continuous control commands including error feedback terms, virtual control vector derivative compensation terms, system dynamics compensation terms, disturbance estimation compensation terms, fault estimation compensation terms, input saturation auxiliary compensation terms and robust compensation terms; Step 700: Introduce a robust compensation term into the fault-tolerant and disturbance-resistant stability controller of the shipborne heave compensation platform, and adaptively estimate the bounded upper bound of the unmodeled dynamics to weaken the impact of the unmodeled dynamics on the stability of the closed-loop system. Step 800: Design a dynamic event triggering mechanism to intermittently update and maintain the continuous control commands output by the fault-tolerant and disturbance-resistant stability controller, obtain the control signal maintained after the dynamic event is triggered, and apply the control signal maintained after the dynamic event is triggered to the actuator input saturation stage; Step 900: Design the disturbance observer gain matrix, fault observer gain matrix, auxiliary dynamic compensation system gain matrix, controller gain matrix, robust compensation parameters, and dynamic event triggering parameters to ensure that the shipborne heave compensation platform's heave, roll, and pitch motions remain stable within the desired neighborhood under the combined effects of unknown time-varying disturbances in the marine environment, unknown time-varying faults of actuators, input saturation, and unmodeled dynamics.

[0026] The following is a detailed explanation of each of the above steps: Step 100: Based on the heave displacement, roll angle and pitch angle information of the shipborne heave compensation platform, establish a three-degree-of-freedom dynamic model of the shipborne heave compensation platform that includes marine environmental disturbances, actuator failures and unmodeled dynamics.

[0027] Considering the heave, roll, and pitch motions of a ship launching at sea in a complex marine environment, the heave displacement, roll angle, and pitch angle of the shipborne heave compensation platform are selected as three-degree-of-freedom modeling variables, and the position and attitude vectors of the shipborne heave compensation platform are defined. for: ; In the above formula, This indicates the heave displacement of the shipborne heave compensation platform; Indicates the roll angle; Indicates the pitch angle.

[0028] A three-degree-of-freedom dynamic model of the shipborne heave compensation platform is established, incorporating marine environmental disturbances, actuator failures, and unmodeled dynamics. Based on the three-degree-of-freedom motion characteristics of the shipborne heave compensation platform, the following three-degree-of-freedom dynamic model of the shipborne heave compensation platform is established: ; In the above formula, The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; Represents the Coriolis and centripetal force matrices; Represents the gravity vector; This represents the actual control input vector of the actuator; Represents the unknown time-varying perturbation force and perturbation moment vector induced by the marine environment; This represents the actuator's unknown time-varying fault vector; This represents the unmodeled dynamic vector caused by model uncertainty; Indicates the position and attitude vector of the shipborne heave compensation platform. The first derivative with respect to time; Indicates the position and attitude vector of the shipborne heave compensation platform. The second derivative with respect to time.

[0029] The actual control input vector of the actuator is defined as follows: , , and These represent the actual control forces or control moments acting in the heave, roll, and pitch directions, respectively; and the unknown time-varying perturbation forces and perturbation moment vectors induced by the marine environment. , , and These represent the disturbance forces or moments caused by marine environmental disturbances in the heave, roll, and pitch directions, respectively; the fault vector when the actuator is unknown. , , and These represent the fault force or fault torque generated by the actuator in the corresponding control channel; the unmodeled dynamic vector caused by model uncertainty. , , and These represent the unmodeled dynamics in the corresponding channels.

[0030] make This indicates the total mass of the shipborne heave compensation platform. , and These respectively represent the support platform around axis, shaft and The moment of inertia of the shaft. For ease of expression, it is defined as: Then the inertial matrix of the shipborne heave compensation platform can be expressed as: ; In the above formula, the inertia matrix This describes the inertial coupling relationship of a shipborne heave compensation platform in the heave, roll, and pitch directions. Since changes in the roll and pitch angles alter the projection relationship of the platform's moment of inertia, therefore... With position and attitude vector change.

[0031] Determine the Coriolis and centripetal force matrices and the gravity vector of the shipborne heave compensation platform. The Coriolis and centripetal force matrices of the shipborne heave compensation platform can be expressed as: ; In the above formula, Indicates the roll angular velocity. This represents the pitch angular velocity. This matrix is ​​used to describe the Coriolis and centripetal terms caused by changes in angular velocity and attitude during the three-degree-of-freedom motion of a shipborne heave compensation platform.

[0032] Define the gravity vector of the shipborne heave compensation platform as: In the above formula, This represents gravitational acceleration. Since the heave direction is directly affected by the platform's gravity, and the gravity terms in the roll and pitch directions are zero in this three-degree-of-freedom model, the gravity vector takes the form described above.

[0033] Establish bounded conditions for unknown disturbances, actuator failures, and unmodeled dynamics. Considering the actual marine environment and the physical characteristics of the shipborne heave compensation platform, the marine environmental disturbances, actuator failures, and unmodeled dynamics satisfy the following bounded conditions: ; ; ; In the above formula, A bounded constant representing the rate of change of marine environmental disturbances. A bounded constant representing the rate of change of actuator faults. Represents an unknown bounded upper bound for unmodeled dynamics; Represents the unknown time-varying fault vector of the actuator The derivative; It represents the derivative of the unknown time-varying perturbation force and the perturbation moment vector induced by the marine environment.

[0034] Since marine environmental disturbances and actuator failures typically have finite energy in practical engineering, their rate of change can be considered bounded; unmodeled dynamics are caused by model uncertainties, parameter deviations, and external complex factors, and their amplitudes can also be considered bounded.

[0035] Step 200: Considering the physical constraints of the actuator of the shipborne heave compensation platform, establish the actuator input saturation model and define the control deviation caused by input saturation. The control deviation is used for subsequent auxiliary dynamic compensation system.

[0036] As an example, step 200 specifically includes the following steps: Step 210: Define the continuous control commands output by the fault-tolerant disturbance rejection stabilizer.

[0037] During the stabilization control of a shipborne heave compensation platform, the controller needs to output control forces or control torques to three channels: heave, roll, and pitch. The continuous control commands calculated by the fault-tolerant disturbance-resistant stabilization controller are defined. for: ; In the above formula, , and These represent the continuous control commands calculated by the controller in the heave, roll, and pitch channels, respectively.

[0038] Step 220: Establish the input saturation function based on the upper limit of the actuator's physical output.

[0039] Because the output capacity of the actuator of the shipborne heave compensation platform is limited by mechanical structure, drive power and safety constraints, the actual output control force or control torque of the actuator cannot be increased indefinitely.

[0040] Based on the continuous control commands output by the fault-tolerant disturbance rejection stabilizer, the actual control input after actuator saturation is defined. for: ; Among them, the The saturation function for each actuator channel is: ; In the above formula, Indicates the first The upper limit of the control force or control torque that each actuator channel can output.

[0041] when When the actuator is in operation, it can work according to the controller's output instructions; when At that time, the actuator output is limited to its physical limits.

[0042] Step 230: Define the control deviation caused by actuator input saturation.

[0043] Since actuator input saturation causes a deviation between the actual control input and the controller's continuous control commands, the control deviation caused by input saturation is defined as: ; Further written in fractional form: ; in, ; In the above formula, Indicates the first Control deviation caused by input saturation in one actuator channel.

[0044] When the control command does not exceed the upper limit of the actuator output. When the control command exceeds the upper limit of the actuator output, This is used to characterize the difference between the actual output of the actuator and the expected output of the controller. This control deviation will serve as the input to the subsequent auxiliary dynamic compensation system to mitigate the adverse effects of input saturation on the stability of the closed-loop system.

[0045] Step 240: Determine the actual input form of the executor after the introduction of the dynamic event triggering mechanism.

[0046] Before the introduction of subsequent dynamic event triggering mechanisms, the actuator saturation stage uses continuous control commands. As input; after the introduction of the dynamic event triggering mechanism, the continuous control commands output by the controller do not act continuously on the actuator, but are updated at the triggering time and maintained between adjacent triggering times.

[0047] Define the control signal that is retained after the dynamic event is triggered as follows: The actual control input acting on the actuator saturation stage is:

[0048] in, The specific update pattern is determined by the dynamic event triggering mechanism in subsequent step 800.

[0049] It should be noted that the definition in this step This describes the control deviation caused by actuator input saturation; the holding error generated by the dynamic event triggering mechanism will be defined separately in step 800 as the event triggering error. This allows for the separate characterization of the effects of actuator physical saturation and event triggering holding, facilitating the subsequent collaborative design of the auxiliary dynamic compensation system and the dynamic event triggering mechanism.

[0050] Step 300: To address the unknown time-varying disturbances experienced by the shipborne heave compensation platform in the marine environment, a disturbance observer is designed to estimate the external disturbance force and disturbance moment experienced by the shipborne heave compensation platform in real time, and the disturbance estimate is used for disturbance compensation in the subsequent fault-tolerant disturbance rejection stability controller.

[0051] As an example, step 300 specifically includes the following steps: Step 310: Based on the three-degree-of-freedom dynamic model of the shipborne heave compensation platform, select the auxiliary intermediate vector of the disturbance observer. The estimated value of the marine environmental disturbance is: ; In the above formula, Represents the unknown time-varying perturbation force and perturbation moment vector induced by the marine environment. The estimated value; This represents the auxiliary intermediate vector generated by the perturbation observer equation; This represents the design matrix for a positive definite symmetric perturbation observer.

[0052] Step 320: Design the auxiliary intermediate vector for the perturbation observer The dynamic update law is: ; In the above formula, Represents auxiliary intermediate vector The derivative with respect to time; This represents the estimated value of the actuator failure. This represents the observation gain matrix of the perturbation observer; This represents the derivative of the inertia matrix of the shipborne heave compensation platform.

[0053] The observation gain matrix of the disturbance observer is: ; In the above formula, Used to adjust the estimation performance of the disturbance observer for unknown time-varying marine environmental disturbances.

[0054] Step 330: Based on the estimated marine environmental disturbance values, define the disturbance estimation error as: ; In the above formula, This represents the estimation error of the disturbance observer for unknown time-varying marine environmental disturbances.

[0055] Step 340: Based on the three-degree-of-freedom dynamic model of the shipborne heave compensation platform, the disturbance observer, and the definition of disturbance estimation error, the dynamic relationship of the disturbance estimation error is obtained as follows: ; in, Indicates unmodeled dynamics; The derivative representing an unknown time-varying marine environmental disturbance; , This indicates the error in the actuator fault estimation.

[0056] Step 400: For unknown time-varying faults generated by the actuators of the shipborne heave compensation platform during operation, a fault observer is designed to estimate the fault force and fault torque of the actuators in real time, and the fault estimate is used for fault compensation of the subsequent fault-tolerant disturbance rejection stability controller.

[0057] As an example, step 400 specifically includes the following steps: Step 410: Based on the three-degree-of-freedom dynamic model of the shipborne heave compensation platform, select the auxiliary intermediate vector of the fault observer. The estimated failure value of the actuator is: ; In the above formula, Represents the unknown time-varying fault vector of the actuator The estimated value; This represents the auxiliary intermediate vector generated by the fault observer equation; This represents the design matrix for a positive definite symmetric fault observer.

[0058] Step 420: Design the auxiliary intermediate vector for the fault observer The dynamic update law is: ; In the above formula, Represents auxiliary intermediate vector The derivative with respect to time, This represents the estimated marine environmental disturbance value obtained in step 300. This represents the observation gain matrix of the fault observer.

[0059] The fault observer observation gain matrix is ​​as follows: ; In the above formula, Used to adjust the fault observer's estimation performance for unknown time-varying faults in actuators.

[0060] Step 430: Define the actuator fault estimation error as: ; In the above formula, This represents the estimation error of the fault observer for unknown time-varying faults in the actuator.

[0061] Step 440: Based on the three-degree-of-freedom dynamic model of the shipborne heave compensation platform, the fault observer, and the definition of fault estimation error, the dynamic relationship of fault estimation error is obtained as follows: ; In the above formula, This indicates the estimation error of marine environmental disturbances; Indicates unmodeled dynamics; The derivative represents the actuator's unknown time-varying fault.

[0062] In the aforementioned fault observer, the actuator fault estimate... It will be used in subsequent fault-tolerant and disturbance-resistant stability controllers to compensate for actuator faults.

[0063] Step 500: Based on the actuator input saturation model, design an auxiliary dynamic compensation system and design a virtual control vector based on the backstepping control method; construct the stability control error variables of the shipborne heave compensation platform based on the desired position and attitude vectors and the auxiliary state variables of the auxiliary dynamic compensation system, and construct the virtual control vector according to the stability control error variables using the backstepping control method.

[0064] As an example, step 500 specifically includes the following steps: Step 510: Define the desired position and attitude vector of the shipborne heave compensation platform. : ; In the above formula, Indicates the expected heave displacement; Indicates the desired roll angle; This represents the desired pitch angle. Under stable control conditions with a shipborne heave compensation platform... It can be taken as the zero vector.

[0065] Step 520: Introduce input saturation auxiliary state variables The first stable control error variable is constructed as follows: ; In the above formula, This represents the position and attitude compensation error variables of the shipborne heave compensation platform; This represents the first auxiliary state variable in the actuator input saturation auxiliary dynamic compensation system.

[0066] Step 530: Introduce virtual control vectors and input saturation auxiliary state variables The second stable control error variable is constructed as follows: ; In the above formula, This represents the speed compensation error variable of the shipborne heave compensation platform; Indicates the first stable control error variable Constructed virtual control vector; This represents the second auxiliary state variable in the actuator input saturation-assisted dynamic compensation system.

[0067] Step 540: Control the input saturation deviation according to the definition in step 200. The actuator input saturation auxiliary dynamic compensation system is designed as follows: ; ; In the above formula, and Representing saturated auxiliary state variables respectively and The derivative with respect to time; and All are positive definite design parameter matrices; This indicates the control deviation caused by actuator input saturation.

[0068] Step 550: Design a virtual control vector based on the backstepping control method: ; In the above formula, This represents the virtual control vector in backstep control design. For positive definite design parameter matrices, It represents the first derivative of the desired position and attitude vector.

[0069] Step 560: Based on the desired position and attitude vectors, the auxiliary state variables of the auxiliary dynamic compensation system, and the backstepping control virtual control vector, establish the dynamic relationship of the stable control error of the shipborne heave compensation platform.

[0070] Based on the first stable control error variable: ; Taking its derivative, we get: ; According to the second stable control error variable and auxiliary dynamic compensation system get: ; virtual control vector Substituting these values, we obtain the dynamic relationship of the first stable control error variable: .

[0071] Step 600: Based on the disturbance observer, fault observer, auxiliary dynamic compensation system, the stability control error variable and virtual control vector, design a fault-tolerant disturbance-resistant stability controller for the shipborne heave compensation platform, so that the fault-tolerant disturbance-resistant stability controller outputs continuous control commands, the continuous control commands including error feedback terms, virtual control vector derivative compensation terms, system dynamics compensation terms, disturbance estimation compensation terms, fault estimation compensation terms, input saturation auxiliary compensation terms and robust compensation terms.

[0072] As an example, step 600 specifically includes the following steps: Step 610: Based on the first stable control error variable defined in step 500 Taking its derivative, we get: ; Substituting the auxiliary dynamic compensation system from step 500 into the above equation, we get: ; Combined with the second stable control error variable defined in step 500 We can obtain: ; Step 620: Construct the first Lyapunov function as follows: ; right Taking the derivative, we get: ; Substitute the above virtual control vector ,get: ; Based on the second stable control error variable defined in step 500, for Differentiation yields: ; Combining the three-degree-of-freedom dynamic model of the shipborne heave compensation platform and the auxiliary dynamic compensation system in step 500, we obtain: ; In the above formula, This represents the derivative of the virtual control vector with respect to time. This is the positive definite design parameter matrix.

[0073] The second Lyapunov function is constructed as follows: ; right Find the derivative and combine it with the matrix properties. have to: ; In the above formula, This indicates the continuous control commands to be designed.

[0074] Step 630: Based on the estimated marine environmental disturbance values ​​obtained in step 300 The actuator fault estimate obtained in step 400 The saturated auxiliary state variables obtained in step 500 And the robust compensation term in subsequent step 700. Design a fault-tolerant and disturbance-resistant stability controller for a shipborne heave compensation platform, enabling the controller to output continuous control commands: ; In the above formula, The derivative of the virtual control vector in backstep control design; This refers to the continuous control commands output by the fault-tolerant disturbance rejection stability controller. In subsequent steps, these continuous control commands... After being updated and maintained by the dynamic event triggering mechanism, it enters the actuator saturation stage, and obtains the control input that actually acts on the shipborne heave compensation platform.

[0075] Step 700: Introduce a robust compensation term into the fault-tolerant and disturbance-resistant stability controller of the shipborne heave compensation platform, and adaptively estimate the bounded upper bound of the unmodeled dynamics to reduce the impact of the unmodeled dynamics on the stability of the closed-loop system.

[0076] As an example, step 700 specifically includes the following steps: Step 710: Based on the second stable control error variable defined in step 500 The robust compensation term is designed as follows: ; In the above formula, Indicates the robust compensation term; This represents the speed compensation error variable of the shipborne heave compensation platform; This represents an estimate of the unmodeled dynamically bounded upper bound; Design parameters for robust compensation.

[0077] Step 720: Design the adaptive estimation law for the unmodeled dynamic bounded upper bound as follows: ; In the above formula, express The derivative with respect to time, and All of these are design parameters for adaptive estimation laws.

[0078] Step 730: Add robust compensation terms Substituting these values ​​into the continuous control command output of the fault-tolerant disturbance rejection stabilizer obtained in step 630, we obtain the continuous control command containing the robust compensation term: ; In the above formula, This represents the estimated marine environmental disturbance value obtained in step 300; This represents the actuator fault estimate obtained in step 400; This represents the second auxiliary state variable obtained in step 500; This is the positive definite design parameter matrix.

[0079] Define the estimation error of the unmodeled dynamically bounded upper bound as: ,in This indicates that step 100 did not model the dynamics. The unknown bounded upper bound, This represents the estimation error of the unmodeled dynamically bounded upper bound.

[0080] Step 800: Design a dynamic event triggering mechanism to intermittently update and maintain the continuous control commands output by the fault-tolerant and disturbance-resistant stability controller, obtain the control signal maintained after the dynamic event is triggered, and apply the control signal maintained after the dynamic event is triggered to the actuator input saturation stage.

[0081] As an example, step 800 specifically includes the following steps: Step 810: Define the control signal that is retained after the dynamic event is triggered as follows:

[0082] In the above formula, This indicates the control signal that is retained after the dynamic event triggering mechanism takes effect; Indicates the time of triggering The continuous control command obtained from step 630; This indicates the time of the next control signal update.

[0083] Step 820: Define the event triggering error as: ; In the above formula, Indicates to hold control signal With the current continuous control command The error between them.

[0084] Step 830: Design the dynamic event triggering time as follows: ; In the above formula, This represents the internal dynamic variables in the dynamic event triggering mechanism. and Design parameters for dynamic event triggering.

[0085] Step 840: Design internal dynamic variables The update law is: ; ; In the above formula, Represents internal dynamic variables The derivative with respect to time; Design parameters for dynamic event triggering.

[0086] Step 850: Input the control signal held after the dynamic event is triggered into the actuator saturation circuit to obtain the actual control input of the shipborne heave compensation platform as follows: ; in, Input a saturation function to the actuator defined in step 220. Between adjacent trigger times, the control signal remains constant. When the triggering condition in step 820 is met, the control signal is updated to a new continuous control command.

[0087] Step 900: Design the disturbance observer gain matrix, fault observer gain matrix, auxiliary dynamic compensation system gain matrix, controller gain matrix, robust compensation parameters, and dynamic event triggering parameters to ensure that the shipborne heave compensation platform's heave, roll, and pitch motions remain stable within the desired neighborhood under the combined effects of unknown time-varying disturbances in the marine environment, unknown time-varying faults of actuators, input saturation, and unmodeled dynamics.

[0088] As an example, step 900 specifically includes the following steps: Step 910: Based on steps 300, 400, and 700, define the marine environmental disturbance estimation error as... Define the actuator fault estimation error as The estimation error of the unmodeled dynamically bounded upper bound is defined as... .

[0089] in, This indicates the estimation error of marine environmental disturbances. This indicates the actuator fault estimation error. This represents the estimation error of the unmodeled dynamically bounded upper bound.

[0090] Step 920: Select the augmented Lyapunov function as: ; In the above formula, Represents the position and attitude compensation error variables; Indicates the speed compensation error variable; This represents the inertia matrix of the shipborne heave compensation platform; This represents the design parameters of the adaptive estimation law.

[0091] Step 930: Set the disturbance observer gain matrix and the fault observer gain matrix as follows: ; ; in, , All are positive definite design matrices. The observation gain matrix for the perturbation observer. This is the observation gain matrix for the fault observer.

[0092] The auxiliary dynamic compensation system gain matrix and controller gain matrix are set to satisfy... , ,in , Used to adjust the stability control error variable, the input saturation auxiliary state variable, and the convergence performance of the control input signal.

[0093] Set robust compensation parameters to meet the requirements. , , , Setting dynamic event trigger parameters to satisfy: , , ,in , and Design parameters for robust compensation terms. , and Design parameters for the dynamic event triggering mechanism.

[0094] Step 940: Based on the closed-loop system of the shipborne heave compensation platform constructed in steps 100 to 900, the derivative of the augmented Lyapunov function satisfies: ; In the above formula, Represents the convergence parameters. This represents a bounded constant.

[0095] Therefore, we can conclude that: ; Therefore, in the closed-loop control system of the shipborne heave compensation platform , , , , , and All remain consistent and ultimately bounded, with the heave displacement, roll angle, and pitch angle of the shipborne heave compensation platform stabilizing within the desired range.

[0096] To verify the control performance of the designed dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform, the following parameters were used as a case study in a simulation experiment. The dynamic parameters of the research object are: , , , In the above formula, This indicates the total mass of the shipborne heave compensation platform. , and These represent the moments of inertia of the shipborne heave compensation platform about the corresponding coordinate axes. To further verify the disturbance resistance and fault tolerance of the method of this invention under complex working conditions, a simulation was conducted under the combined effects of strong marine environmental disturbances and strong actuator failures. The marine environmental disturbances are taken as: ; Actuator failure is taken as: ; The upper bound of actuator saturation is taken as The initial conditions are set as follows: , The robust compensation term parameters are set as follows: , , The gain matrices related to the disturbance observer, fault observer, and controller are taken as follows: , , , Simulation results are as follows Figures 2 to 10 As shown.

[0097] Figure 2 and Figure 3 The figures show the position and attitude response curves and velocity response curves of the shipborne heave compensation platform, respectively. It can be seen that under the combined effects of marine environmental disturbances, actuator failures, input saturation, and unmodeled dynamics, the platform's heave displacement, roll angle, pitch angle, and velocity all remain bounded and gradually stabilize near zero. Figure 4 and Figure 5 The figures show the adaptive estimated response curve for the unmodeled dynamic bounded upper bound and the robust compensation control signal response curve, respectively, demonstrating that the designed robust compensation term can mitigate the impact of the unmodeled dynamics on system stability. Robust compensation control force for the heave channel, Robust compensation control torque for the roll channel, This is the robust compensation control torque for the pitch channel. Figure 6 The continuous control command response curve output by the fault-tolerant and disturbance-resistant stable controller. Figure 9 The response curve of the actual control input signal of the actuator shows that both the control command and the actual input are bounded, and the actual input satisfies the actuator saturation constraint. Figure 7 and Figure 8 The curves showing the comparison between marine environmental disturbance and disturbance observer estimates, and the curves showing the comparison between actuator failure and failure observer estimates, demonstrate that the designed observer can achieve online estimation of disturbances and failures. Figure 10 The curves showing the dynamic event triggering time and interval demonstrate that the control signal is updated only when the triggering conditions are met, reducing unnecessary continuous control updates. In summary, the proposed dynamic event-triggered fault-tolerant disturbance rejection control method can achieve stable control of the heave, roll, and pitch motions of a shipborne heave compensation platform, while also considering disturbance estimation, fault compensation, input saturation processing, and event-triggered updates, thus verifying the effectiveness of the method.

[0098] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform, characterized in that, Includes the following steps: Step 100: Based on the heave displacement, roll angle and pitch angle information of the shipborne heave compensation platform, establish a three-degree-of-freedom dynamic model of the shipborne heave compensation platform that includes unknown time-varying disturbances of the marine environment, unknown time-varying faults of actuators and unmodeled dynamics. Step 200: Establish the actuator input saturation model and define the control deviation caused by input saturation; Step 300: Design a disturbance observer to estimate the external disturbance force and disturbance moment experienced by the shipborne heave compensation platform in real time; Step 400: Design a fault observer to estimate the actuator fault force and fault torque in real time; Step 500: Based on the actuator input saturation model and the control deviation caused by the defined input saturation, design an auxiliary dynamic compensation system. Based on the desired position and attitude vectors and the auxiliary state variables of the auxiliary dynamic compensation system, construct the stable control error variables of the shipborne heave compensation platform, and construct a virtual control vector using the backstepping control method according to the stable control error variables. Step 600: Based on the disturbance observer, fault observer, auxiliary dynamic compensation system, the stability control error variable and virtual control vector, design a fault-tolerant disturbance-resistant stability controller for the shipborne heave compensation platform, so that the fault-tolerant disturbance-resistant stability controller outputs continuous control commands; Step 700: Introduce a robust compensation term into the fault-tolerant disturbance rejection stability controller and adaptively estimate the bounded upper bound of the unmodeled dynamics; Step 800: Design a dynamic event triggering mechanism to intermittently update and maintain the control signal output by the fault-tolerant and disturbance-resistant stable controller, and apply the updated control signal to the actuator input saturation stage; Step 900: Design the disturbance observer gain matrix, fault observer gain matrix, auxiliary dynamic compensation system gain matrix, controller gain matrix, robust compensation parameters, and dynamic event triggering parameters to stabilize the heave, roll, and pitch motions of the shipborne heave compensation platform within the desired range.

2. The dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 1, characterized in that, In step 100, a three-degree-of-freedom dynamic model of the shipborne heave compensation platform is established, incorporating unknown time-varying disturbances in the marine environment, unknown time-varying faults of actuators, and unmodeled dynamics. This includes: Define the position and attitude vector of the shipborne heave compensation platform for: ； In the above formula, This indicates the heave displacement of the shipborne heave compensation platform. Indicates the roll angle. Indicates the pitch angle; The three-degree-of-freedom dynamic model of the shipborne heave compensation platform is established as follows: ； In the above formula, The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; Represents the Coriolis and centripetal force matrices; Represents the gravity vector; This represents the actual control input vector of the actuator; Represents the unknown time-varying perturbation force and perturbation moment vector induced by the marine environment; This represents the actuator's unknown time-varying fault vector; This represents the unmodeled dynamic vector caused by model uncertainty; Indicates the position and attitude vector of the shipborne heave compensation platform. The first derivative with respect to time; Indicates the position and attitude vector of the shipborne heave compensation platform. The second derivative with respect to time.

3. The dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 1, characterized in that, In step 200, an actuator input saturation model is established, and the control deviation caused by input saturation is defined, including: Define the continuous control commands output by the fault-tolerant disturbance rejection stability controller. for: ； In the above formula, , and These represent the continuous control commands calculated by the controller in the heave, roll, and pitch channels, respectively. Control input after actuator saturation for: ； Among them, the The saturation function for each actuator channel is: ； In the above formula, Indicates the first The upper limit of saturation for each actuator channel; Define the control deviation caused by actuator input saturation. for: 。 4. The dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 1, characterized in that, In step 300, a disturbance observer is designed to estimate the external disturbance force and disturbance moment experienced by the shipborne heave compensation platform in real time, including: ； ； In the above formula, Represents the unknown time-varying perturbation force and perturbation moment vector induced by the marine environment. The estimated value; This represents the auxiliary intermediate vector generated during the design of the disturbance observer; The matrix representing the design parameters of a positive definite symmetric disturbance observer; This represents the estimated value of the actuator failure. The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; Represents the Coriolis and centripetal force matrices; Represents the gravity vector; This represents the actual control input vector of the actuator; This represents the first derivative of the position and orientation of the shipborne heave compensation platform; Let represent the observation gain matrix of the perturbation observer, and satisfy: .

5. The dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 1, characterized in that, In step 400, a fault observer is designed to estimate the actuator fault force and fault torque in real time, including: ； ； In the above formula, Represents the unknown time-varying fault vector of the actuator The estimated value; This represents the auxiliary intermediate vector generated during the design of the fault observer; The matrix representing the design parameters of a positive definite symmetric fault observer; The derivative of the inertia matrix of the shipborne heave compensation platform; Represents the Coriolis and centripetal force matrices; Represents the gravity vector; This represents the actual control input vector of the actuator; This represents the first derivative of the position and orientation of the shipborne heave compensation platform; Let represent the observation gain matrix of the fault observer, and satisfy: .

6. The dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 1, characterized in that, In step 500, based on the actuator input saturation model and the control deviation caused by the defined input saturation, an auxiliary dynamic compensation system is designed. Based on the desired position and attitude vectors and the auxiliary state variables of the auxiliary dynamic compensation system, a stable control error variable for the shipborne heave compensation platform is constructed. A virtual control vector is then constructed using a backstepping control method based on the stable control error variable, including: Define the desired position and attitude vector of the shipborne heave compensation platform. for: ； In the above formula, Indicates the expected heave displacement; Indicates the desired roll angle; Indicates the desired pitch angle; Define the first and second stability control error variables of the shipborne heave compensation platform as follows: ； ； In the above formula, This represents the position and attitude compensation error variables of the shipborne heave compensation platform; Indicates the speed compensation error variable; This represents the virtual control vector in backstep control design; and This represents the saturation auxiliary state variable introduced during the actuator input saturation compensation process; This represents the position and attitude vector of the shipborne heave compensation platform; This represents the first derivative of the position and orientation of the shipborne heave compensation platform; The design of the actuator input saturation auxiliary dynamic compensation system is as follows: ； ； In the above formula, and Representing saturated auxiliary state variables respectively and The derivative with respect to time; and All are positive definite design parameter matrices; This indicates the control deviation caused by input saturation; The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; Design a virtual control vector based on the backstepping control method: ； In the above formula, Indicates the first stable control error variable Constructed virtual control vector; It represents the first derivative of the desired position and attitude vector.

7. The dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 1, characterized in that, In step 600, based on the disturbance observer, fault observer, auxiliary dynamic compensation system, the stability control error variable, and the virtual control vector, a fault-tolerant disturbance-resistant stability controller for the shipborne heave compensation platform is designed, enabling the fault-tolerant disturbance-resistant stability controller to output continuous control commands, including: ； In the above formula, This indicates the continuous control commands output by the fault-tolerant disturbance rejection stability controller; This represents the estimated marine environmental disturbance output by the disturbance observer; This represents the actuator fault estimate output by the fault observer; Indicates the robust compensation term; The design parameter matrix is ​​positive definite. This represents the position and attitude compensation error variables of the shipborne heave compensation platform; The inertia matrix represents the inertia matrix of the shipborne heave compensation platform; The derivative of the virtual control vector in backstep control design; Represents the Coriolis and centripetal force matrices; This represents the virtual control vector in backstep control design; This represents the saturation auxiliary state variable introduced during the actuator input saturation compensation process; Represents the gravity vector; This represents the speed compensation error variable.

8. The dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 1, characterized in that, In step 700, a robust compensation term is introduced into the fault-tolerant disturbance rejection stability controller, and an adaptive estimation is performed on the bounded upper bound of the unmodeled dynamics, including: ； ； In the above formula, Indicates the robust compensation term; Indicates the speed compensation error variable; This represents an estimate of the unmodeled dynamically bounded upper bound; , and All are positive design parameters.

9. The dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 8, characterized in that, In step 800, a dynamic event triggering mechanism is designed to intermittently update and maintain the control signal output by the fault-tolerant and disturbance-resistant stability controller, and to apply the updated control signal to the actuator input saturation stage, including: Define the control signal that is retained after a dynamic event is triggered as follows: ； In the above formula, This indicates the control signal that is retained after the dynamic event triggering mechanism takes effect; Indicates the time of triggering Continuous control commands; Indicates the time of the next control signal update; Define the control signal measurement error as: ； In the above formula, Indicates to hold control signal With the current continuous control command The error between; The dynamic event triggering time is designed as follows: ； The internal dynamic variables are designed as follows: ； In the above formula, This represents an internal dynamic variable in the dynamic event triggering mechanism; Represents internal dynamic variables The derivative with respect to time; , and All are dynamic event-triggered design parameters; By maintaining the control signal input to the actuator saturation stage, the actual control input of the shipborne heave compensation platform is obtained as follows: ； in, Input a saturation function to the actuator.

10. A dynamic event-triggered fault-tolerant disturbance rejection control method for a shipborne heave compensation platform according to claim 9, characterized in that, In step 900, the disturbance observer gain matrix, fault observer gain matrix, auxiliary dynamic compensation system gain matrix, controller gain matrix, robust compensation parameters, and dynamic event triggering parameters are designed, including: ； ; in, , All are positive definite design matrices. The observation gain matrix for the perturbation observer. The gain matrix for the fault observer; The auxiliary dynamic compensation system gain matrix and controller gain matrix are set to satisfy... , ,in , Used to adjust the stability control error variable, the input saturation auxiliary state variable, and the convergence performance of the control input signal; Set robust compensation parameters to meet the requirements. , , , ; Set dynamic event trigger parameters to meet the following requirements: , , ,in , and Design parameters for robust compensation terms. , and Design parameters for the dynamic event triggering mechanism; By adjusting the above parameters, the disturbance estimation error, fault estimation error, position and attitude error, velocity error, unmodeled dynamic upper bound estimation error, and control input signal are kept bounded, thereby achieving fault-tolerant and disturbance-resistant stable control of the shipborne heave compensation platform under the combined effects of actuator failure, input saturation, marine environmental disturbance, and unmodeled dynamics.

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