Research On Ship Course Control Based On The ADRC

Because LADRC can estimate and compensate the internal and external error in time, what’s more, the LADRC is not based on special accurate system model, also has strong capacity of resisting disturbance. So this paper adopts the LADRC to controlling the ship course.Firstly, this paper introduces how to control the ship heading by autopilot, lists the historical evolution of course control methods, and introduces the development and research status of LADRC. Then the MMG ship model is established on the basis of the data of XIN SHANG HAI and SHANG HAI, we also design the external navigation environment interference (mainly wind, flow) of the model. and through the simulation of turning tests and Zig-zag tests to prove the validity of the model, thus laying the foundation for the design of controller.Secondly, this paper introduces the principle and composition of ADRC, and briefly describes the algorithm and characteristics of tracking differentiator (TD), extended state observer (ESO), nonlinear feedback control rate (NLSEF) respectively. Due to the limitations of LADRC itself, this paper brings in the LADRC. Later, the basic principle as well as the basic algorithm of LADRC are given in details.Finally, this paper designs a variable parameter PID controller and LADRC heading controller, makes simulation by MATLAB to control the ship course under different navigation environment, contrasts the control effect and accuracy of two controllers, then draws a conclusion that the LADRC controller has rapid response and high control precision, has a good adaptability and robustness to uncertain interference factors of controlled object,as well as can achieve the ideal effect.The main work of this paper is to establish the mathematical model of ship motion, and to design the LADRC controller for ship course control. The simulation results verify the effectiveness and robustness of the LADRC heading controller.