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Research and Realization of Ship Course Autopilot Based on Auto Disturbance Rejection Controller

Author: WangChangShun
Tutor: LiZuoBin
School: Shandong University
Course: Control Theory and Control Engineering
Keywords: ADRC control Ship motion mathematical model μC/OS- Ⅱ Reliability Design
CLC: TP273
Type: Master's thesis
Year: 2009
Downloads: 112
Quote: 4
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Abstract


Autopilot is important ship-handling equipment, has a crucial role for the security and economy of the ship sailing. Ship dynamic model has the characteristics of large inertia, large delay, nonlinear, and the influence of outside interference by the perturbation model parameters as well as the ship's motion stroke, waves and currents, the traditional method of control is difficult to achieve good control effect . In order to overcome the difficulties in the ship maneuvering control, this study introduces a new kind of nonlinear control method, ie ADRC control technology (ADRC). The method does not rely on the accurate mathematical model of the ship, the integrated dynamic internal and external interference in the ship motion for systems subject to unknown interference, through design extended state observer (ESO) to the overall real-time estimates, and in the feedback in reasonable to improve the robustness of the system's ability to refer to the non-linear characteristics. The test results show that the use of ADRC ship autopilot control technology with good steering ability, and also prove that the autopilot in this study is a reliable, good steering performance. This paper first introduces the principle of ship handling, steering system and a common way of steering. According to the characteristics of the ship heading movement to establish the mathematical model of the nonlinear response of the movement of the ship, and the ship voyage by environmental interference. Then analyzed the deficiencies of the traditional PID control method, and the introduction of the ADRC control method. Based on the basic principles and standard structure of the controller ADRC ship heading ADRC controller design, and discretization algorithm. For the deficiencies of the existing ship navigation instruments, developed a series of digital navigation instruments. Paper made a brief description of these digital instrument to achieve functional design principles. According to the various functions of the autopilot to achieve, given the structure of the autopilot. Various types of interference suffered by the environment of the ship on autopilot, the final design of the autopilot hardware platform and systems to take the anti-jamming measures described. In order to shorten the design cycle of the system software to improve the stability and reliability of the software system, autopilot, embedded real-time embedded operating system μC/OS- II. Describe the structure of the kernel of the operating system, the porting process and the division of tasks and task flow chart. Finally, the anti-jamming measures taken in the reliability of the software design methodology and design software. Programs and methods mentioned in the paper, the successful development of the the autopilot prototype, and performance testing. The paper summarizes the experience ADRC controller parameter adjustment, and analyze the results of the the autopilot performance test the analysis showed that the autopilot control algorithm based on ADRC has good control performance and disturbance rejection, and parameter uncertainties action has good robustness. Finally, the full text of the summary of the prospect for further work.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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