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10167033 潘酩杉 教授 : 曾慶耀

10167033 潘酩杉 教授 : 曾慶耀. Design of Ship Straight-line Tracking Controller Based on Auto Disturbance Rejection Control Technique. Abstract.

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10167033 潘酩杉 教授 : 曾慶耀

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  1. 10167033 潘酩杉 教授:曾慶耀 Design of Ship Straight-line Tracking Controller Based on Auto Disturbance Rejection Control Technique

  2. Abstract • A straight-line tracking controller has been designed for the non-linear and under-actuated mathematical module of ship’s straight-line tracking control system based on Auto Disturbance Rejection Control (ADRC) technique. • which combines the two TD and the control law.Due to the liability to wind’ wave and current disturbance, an additional TD is adopted to filter the system output.

  3. INTRODUCTION • The traditional autopilot can not control the tracking deviation directly. • Auto disturbance rejection control technique is a new control method which doesn’t depend on system model.It can timelyestimate and compensate the influences of all internal and externaldisturbances when the system is activated.Combined with the special non-linear feedback structure.

  4. Take the second-order controlled object as an example

  5. Transition Process Arranged • In the ordinary control system, the error value is:e = v − y • It is unreasonable for the overshoot is easily caused for the high initial error value. • According to the bearing ability of object, if • a reasonable transition process v1(t) arranged in advance e = v1(t) − y

  6. Transition Process Arranged is: Where:

  7. Extended State Observer • The purpose of designing Extended State Observer is to get the differential signal of the system state variable and the sum of internal disturbance and external disturbance in system by the input and output of system

  8. Extended State Observer • The nonlinear uncertain object affected by unknown external disturbance is:

  9. Extended State Observer • Taking the two-order system as an example, three-order Extended State Observer is needed by two-order system, the usually equation is as follows:

  10. The Formation of Control Variable • The formation of control variable is as shown in:

  11. In the actual application, the three part of ADRC have many selections, which can be linear or non-linear, smoothly or non smoothly. The one which is high efficiency, easy to be implemented and suitable for the controlled object will be adopted

  12. MATHEMATICAL MODULE OF SHIP STRAIGHT-LINE TRACKING CONTROL SYSTEM • Ship straight-line tracking control can be divided into two parts:The ship position control is the control of lateral

  13. The ship straight-line tracking control system diagram is shown

  14. the non-linear mathematical model of ship straight-line tracking control is described as follows:

  15. ADRC SCHEME OF SHIP’S • the common object handled by ADRC is SISO system, while the object handled by ship straight-line tracking control system is SIMO system. Considering the key of ship straightline tracking control system is to control the course, take the ship lateral offset control into consideration, the control law is designed with a ship course control base

  16. the structural diagram of the whole system

  17. Design step of ship’s straight-line tracking ADRC arithmetic (1) Design of TD First, the set value of ship course is designed with TD1 and the set value of ship lateral offset is designed with TD2 The following can be got by the steps: (a)The proper transition process can be made by adjusting r. (b)The differential values of ship course set value andlateral offset set value can be got to generate control law.

  18. TD3 equal to equation is designed again to get the tracking value of y(t)and Ý(t)

  19. (2) ESO designed for ship’s course

  20. Parameter Setting Method of Ship Straight-lineTracking ADRC Controller • The performance of the ADRC is heavily relatedwith the selection of its parameters. • that ADRC controller cancompletely be designed by “separability” principle, namely toindividually design TD, ESO and error feedback part andcombine into complete ADRC.

  21. Ship’s straight-line tracking ADRC contains four different TD and 8 parameters which are • TD1 to TD3 are used to get suitable transition process • For TD4 are mainly used to filter, the mainly behavior is to adjust filtering factor

  22. SIMULATION STUDY OF THE SHIP STRAIGHT-LINE TRACKINGCONTROL

  23. SIMULATION STUDY OF THE SHIP STRAIGHT-LINE TRACKINGCONTROL

  24. CONCLUSIONS • The structure of the ship ADRC tracking controller is simple. This makes it easy to be widely applied in practical ship system control.

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