Research On The Self-tuning Control Method Of Dynamic Positioning Ship Parameters

Ship dynamic positioning as an important equipment of Marine engineering,it controls the convergence speed and control precision directly affects the success or failure of performance,however,most of the control parameters of the design method of trial and error method has been adopted,for the lack of precise control object model and no actual Marine work experience,selection of control parameters has the vital significance.So the parameter self-tuning control method can reduce the pressure of a Marine staff,realize the automation of Marine equipment has great significance.In this paper,under the different control methods,combined with the corresponding parameters self-tuning method,studied the ship dynamic positioning parameters self-tuning influence on convergence speed and control precision,the work of this paper is as follows:Possess.you first,build three self by degrees of motion and dynamics of type,wind,wave and interference type so that the reflected that watch movement characteristics under external environment interfered with.By maneuvering simulation test of ship model are given,and finally draw a precise model,and then design the ship dynamic positioning based on the Backstepping method of known and unknown control law design,using the ideas of fuzzy control to the positive definite of control parameters,according to the rules of the adjustment of control parameters,as well as the deviation and the deviation of the rate of change of scope,real-time query and calculation of fuzzy rules,which can realize automation intelligent to adjust the gait design parameters.Second,design the ship dynamic positioning based on the dynamic surface method of known and unknown control law design,aiming at controlling range of deviation can not be sure,to parameters self-tuning fuzzy method,using DRNN diagonal recurrent neural network to carry on the dynamic adjustment,the control parameters make the closed-loop system has faster convergence speed.In order to verify the validity of the method of parameter self-tuning DSC control,based on a ship equipped with dynamic positioning system with Matlab/Simulink simulation experiment,the experimental results show that after DRNN parameter self-tuning of DSC control method has faster convergence speed and higher control precision.Finally,the dynamic surface control method and the introduction of Nussbaum gain adaptive dynamic surface control method of the established dynamic positioning ship three degrees of freedom motion model surface design parameter setting,to control the dynamic positioning ship complete tracking and positioning function.Take a ship dynamic positioning of the designed controller without considering the uncertainty study of ship system and considering the research of ship system uncertainties in both cases the MATLAB simulation experiment,verified the introduction of Nussbaum gain adaptive dynamic surface control parameters of the control effect.