The Research And Simulation Of ADRC Based On Surface Ships Dynamic Positioning Control Method

Surface ship motion is possessed of nonlinear, time-varying lines, strong coupling, while the unknown disturbance is existence, the load conditions change, the marine environment (wave, current, tidal) changes are difficult to accurately model the characteristics, resulting in a surface ship control have strong complexity.Surface ships as the important carrier of a marine research and development,the related technology has been a hot research field today. Surface ship control technology as one of key technologies, to a certain extent, marks the surface location of the ship is scheduled to be in accordance with the navigation or berthing, whose performance will directly affect the overall performance of the ship and applications.Therefore, start with good control performance, while possesses strong practical vessel dynamic positioning control, has important theoretical and practical significance. The research results can also be applied to other similar marine engineering equipment to control problems, such as fishing boats, mining ships, drilling platforms, submarine pipeline and cable laying work boat.Auto Disturbance Rejection Control technique is a control theory developed in recent years, is based on non-linear PID which is aim at the strong interference and uncertainty for the system proposed a new control technology, has strong robustness, adaptability, with strong non-linear processing and engineering practicality.The purpose of paper located in the active disturbance rejection control techniques in surface ships application, through surface vessels ADRC control technology, to solve the nonlinear, time variability, model uncertainty and marine environmental change, the unknown random disturbance surface water under the conditions of ship dynamic positioning control.Owing to model-building, ship's high frequency, low frequency disturbance model and the establishment of various models using MATLAB and disturbance rejection control simulation, the ship's bow to the angle control, the experimental results obtained, the output position of the ship and bow to the corner.The innovation of paper is proposed ADRC control surface ship method used to solve nonlinear, time-varying, fuzzy uncertainty and unknown disturbance, the surface ship under control in order to solve the control theory and engineering separated from application conflicts. By the final simulation, demonstrated the correctness of the arguments put forward.The surface disturbance rejection control of ships which is put forward full account of the non-linear, mathematical model of the movement variability and other characteristics of surface ships, surface ships will be uncertain dynamic model and uniform changes in the marine environment comes down to the system's "total disturbance", by estimating and compensation, so that system control do not need to establish accurate mathematical model, and can get good control performance.For more extensive control of a large class of uncertain systems, especially where there is strong interference, disturbance rejection control technique is highly practical and proven robustness, and has demonstrated many advantages:such as no overshoot, can be static error-free, suitable for nonlinear, time-varying, under the conditions of strong coupling system control, does not rely on models of uncertain models and unknown disturbances has a strong insensitivity, in addition more important point is that it has a strong engineering nature, these advantages are very suitable for deep or shallow underwater ship under the control requirements, therefore, the disturbance rejection control theory control theory is applied to the surface feasible.Through establish the ship and a variety of unknown interference model, and then use MATLAB simulation, the simulation results obtained show that this design control method in practical application is feasible.