Adaptive Control Design For Ship Course-Keeping With The Hysteresis Characteristic Compensation

With the vigorous development of proposed shipping economy and our maritime power strategy, currently ship motion control theory tends to be more in-depth exploration ship control engineering for the actual problem, and ultimately improve the actual availability of theoretical research. Ship heading to maintain control research ship motion control is an important research tasks, and ship loading variation exists in the sea during the velocity change, many uncertainties marine environment interference. In addition, non-smooth nonlinear (This article is only for hysteresis nonlinearity) is widespread in the hydraulic system, the steering servo system as a ship course control system holding the execution device also inevitable. This is a ship heading for the purposes of maintaining control tasks will seriously affect the accuracy of the closed loop control system, and even cause the system out of control. Therefore, this kind of problem for further research has practical significance.Firstly, to keep the ship heading mathematical model on the basis of the introduction of a general description of hysteresis characteristics of non-linear model, namely Prandtl-Ishlinskii (P-I) model was constructed ship course with a steering servo system to keep the system hysteresis characteristics described mathematical model. Backstepping approach for the use of such uncertain systems design control law, by Nussbaum gain function technical processing system model to control the direction an unknown problem, the overall compensation for the uncertain part of the actuator due to hysteresis characteristics, the final interpretation of the one applicable to ships robust adaptive control engineering required control strategies. Lyapunov stability theory theoretically analyzed the effectiveness of the proposed control algorithm. Dalian Maritime University research internship based ship "YuKun" wheel system simulation experiment results show that the proposed control algorithm can be applied to keep the ship course control system, servo steering systems of nonlinear partial compensation hysteresis achieve calm effect.Theoretical study conducted herein has certain theoretical foundation and strong practical value, to improve the ship heading to maintain control accuracy, and ensure the safety of ships at sea is important.