自抗扰控制算法船舶动力定位仿真分析

Simulation analysis of active disturbance rejection control algorithm for ship dynamic positioning

在远洋和深海海域,船舶如果采用传统的锚泊方式定位一方面存在灵活性差的问题,另一方面锚链长度造成的角度偏移会导致船体的定位精度差。因此,船舶的动力定位系统成为一项船舶重要的功能系统。在船舶的动力定位过程中,风浪等扰动作用会干扰动力定位的精度。针对这一问题,本文提出一种自抗扰控制算法。该算法利用跟踪微分器、状态观测器、误差反馈模块等关键环节,实现船舶动力定位推进器的精确控制,提高船舶动力定位的精度。此外,结合Simulink仿真平台,进行动力定位系统自抗扰控制技术的仿真分析。

In the ocean and deep sea,if the ship adopts the traditional anchoring mode,on the one hand,there is a problem of poor flexibility,on the other hand,the angle deviation caused by the length of the anchor chain will lead to the poor positioning accuracy of the ship.Therefore,the ship dynamic positioning system has become an important functional system of the ship.In the process of ship dynamic positioning,wind and waves will interfere with the accuracy of dynamic positioning.To solve this problem,an active disturbance rejection control algorithm is proposed in this paper.The algorithm uses key elements such as tracking differential,state observer and error feedback module to achieve accurate control of ship dynamic positioning thrusters and improve the accuracy of ship dynamic positioning.In addition,the simulation analysis of active disturbance rejection control technology of dynamic positioning system is carried out based on Simulink simulation platform.