Research On Application Of Active Disturbance Rejection Control For Dynamic Positioning Ships Control

In recent years,people acquire,develop and utilize resources are no longer limited to the the land.We focus more on the ocean.It promoting the progress of developing resources.Ship as a platform for the development and utilization of the ocean takes more burden.Dynamic Positioning Ships were born with the continuous development of technology.From its birth,the control problem of it is the hot and difficult point that people care about.Since the development of Dynamic Positioning ships' control technology,there have been many good control methods.The common control methods include PID control,LQG control,nonlinear control and intelligent control.In the past,PID control is the most common method due to its advantages: simple structure and easy to implement.But the rapidity and overtones are difficult to coordinate and some other problems are the factors that lead to it replaced by these new type control methods.Fortunately,Professor Jingqing,Han from Chinese academy of sciences came up with the Active Disturbance Rejection Control technology by improving the PID control links.This technology has many advantages: good anti-interference ability,adaptability and robustness.Further more,it dose not depend on the model of the object,dose not need to measuring the disturbance of system,has simple algorithm,small overshoot and high control precision.Then to research on the theory and algorithmFirst of all,This paper studies the relationship between position and velocity,force and torque from the angle of kinematics and dynamics.Then deduce low frequency ship motion model and high frequency ship motion model and studies environmental force model of wind,wave and current to get ready for designing controller.On this basis,to carry out the design of three parts of composing ADRC modules by using MATLAB Simulink S-function in order to design the ADRC controller for Dynamic Positioning ships.Secondly,in order to solve the problem of the control effect caused by the interference of Marine environment.,this paper designs an extended states observer(ESO)with filter links based on fal function.It makes the noise in the estimation of disturbance signal is greatly restricted by ESO in order to improving the control performance.Then to obtain the ship position curve through simulation experiments.In order to proving the performance of ESO with filter links based on fal function by comparing the ship position curve before and after adding a filter link.Finally,due to the numerous parameters of ADRC and there are no fixed rules for the coordination between the parameters,so tuning parameters have always been the mostdifficult problem in this technology.If manually tuning the parameters,it will cost more time and waste more energy even can not obtain the expecting control effect.In this paper,a genetic algorithm based on real time Simulink is designed to tuning the parameters of ADRC.