Research on Sliding Mode Active Disturbance Rejection Control and Thrust Allocation of Dynamic Positioning System
In order to further improve the control ability of dynamic positioning ship or platform under complex sea conditions,the controller and thrust allocation system of dynamic positioning are designed.A simplified three-degreeof-freedom MMG mathematical model is established for the pod full-rotation propeller used in most dynamic positioning ships.On the basis of retaining the advantages of active disturbance rejection control,the sliding mode variable structure control method is adopted to design the control law.The objective function and constraints of thrust allocation are designed based on the lowest energy consumption,and the sequential quadratic programming algorithm is used to calculate the real-time thrust allocation of each propeller.The simulation results of the ship dynamic positioning system in MATLAB show that the controller can maintain the stability and robustness of the system under the condition of external environment disturbance,and the results of the thrust allocation are reasonable,which has a certain reference value for the further study of the ship dynamic positioning control system.
Sliding mode control Dynamic positioning system Thrust allocation Sequential quadratic programming
Zaiji Piao Chen Guo
School of Marine Electrical Engineering,Dalian Maritime University,Dalian,China
国际会议
江苏镇江
英文
262-269
2019-09-20（万方平台首次上网日期，不代表论文的发表时间）