Based On Auto/Active Disturbances Rejection Control Technique For Autopilot Design And Implementation

Autopilot is a important equipment in shipping maneuvering, it’s used to maintain a given direction, and overcome the influence of disturbance that ship don’t sail along the ideal straight line in the sea, and run on a predetermined course stable automatically. Its performance will directly affect the maneuverability, security, and economic. Tradit-ional control methods depend on accurate math model of ship, parametric perturbations and wind, waves, currents and other exoteric strong disturbances. It is difficult to cope with the intricacies of changing sailing conditions. In order to improve the control performance of autopilot, and overcome the interference of external factors, ADRC technology (Auto/Active Disturbances Rejection Controller)which is a new nonlinear control method is adopted. By arranging the transient process, extracting differential signal, nonlinear combinations, extended state observer and disturbance estimation compensated and other processes, ADRC has been built. According to simulation tests, the new application of digital technology doesn’t depend on exact math model of contr-olled plant. The test results show that, the ship autopilot which is based on ADRC technology can be not only reduce manual operations, improve the safety of navigation, but also can be significant economic benefits. Its performance is stable and reliable.Paper first introduces the autopilot development history and domestic and foreign research status quo. Establish the nonlinear response of the mathematical model based on characteristics of the ship sailing state of the environmental factors that affect the navigation of the ship, design a course ADRC controller. For the autopilot’s function, the design structure is discussed. Detailed analysis on autopilot includes various types of interference factors, so as to realize the design of the hardware platform, and describe the anti-jamming measures taken.Based on the design program in the paper, it is successfully designed the prototype of the autopilot, and done function test. The test results show that the autopilot designed based on ADRC algorithm has high precision, fast response, anti-interference ability. Finally, conclude remarks, and prospect the next stage work.