CN103293952A - Ship host active-disturbance-rejection controller - Google Patents

Abstract

The invention discloses a ship host active-disturbance-rejection controller which is characterized in that a system is composed of the active-disturbance-rejection controller, an accelerator servo mechanism, a ship host mathematic model and a wind wave flow interference signal. The input end of the active-disturbance-rejection controller receives a speed setting signal which is compared with an actual speed signal, and after the signal is processed by the active-disturbance-rejection controller, the output end of the active-disturbance-rejection controller is connected with the input end of the accelerator servo mechanism and transmits an output control signal. The output end of the accelerator servo mechanism is connected with the input end of the ship host mathematic model. The output end actual speed is connected with the input end of the active-disturbance-rejection controller. The ship host active-disturbance-rejection controller overcomes the defect that the rotational speed control process of a ship host has uncertainty caused by nonlinearity, time variation and disturbance of the environment, the speed switching control process of the ship host is rapid and smooth, adjustment of an accelerator is small, and the high-precision speed can be achieved.

Description

The marine main engine automatic disturbance rejection controller

Technical field

The present invention relates to a kind of marine vehicle movement control algorithm, relate in particular to a kind of marine main engine speed control.

Background technology

Vessel traffic is being born the International Trade Transportation amount more than 90%, along with constant development of economy, the closeness of maritime traffic is increasing, and is also more and more higher to security and the requirement of economy of navigation, and therefore the navigation control to boats and ships just becomes an important subject.

The quality of ship's main diesel engine performance and life-span are depended on the performance of its governing system to a great extent.Advanced person's marine main engine governing system has adopted digital governor mostly both at home and abroad at present, and control law mainly adopts the PID controller.And that marine main engine rotating speed control procedure all exists is non-linear, time becomes and essential start-stop car, operating personnel's maloperation and control object are subjected to the interference of environment inevitably and have uncertainty, and these uncertainties should be counted as the important overall characteristic of control system.Control system is if will obtain optimal performance index, only depend on the PID controller of traditional control law design to be difficult to meet the demands, because sort controller is under permanent coefficient and the environmental interference variation condition not too greatly in control system normally, the performance that can obtain wishing, otherwise, control system can not guarantee optimal performance, even becomes instability.

Summary of the invention

All exist non-linear, time to become and control object is subjected to the interference of environment inevitably and has probabilistic characteristics in order to overcome marine main engine rotating speed control procedure, designed a kind of marine main engine automatic disturbance rejection controller that has than strong robustness, make marine main engine speed switching controls process fast, smoothly, throttle is adjusted little, can realize high-accuracy speed.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of marine main engine automatic disturbance rejection controller is characterized in that this system is by comprising that automatic disturbance rejection controller, throttle servo control mechanism, marine main engine mathematical model, stormy waves flow disturbance signal constitute; The input end inbound pacing setting signal of said automatic disturbance rejection controller and compared by actual speed signal, after automatic disturbance rejection controller was handled, output terminal connected the input end of throttle servo control mechanism, transmitted the output control signal; Throttle servo control mechanism output terminal connects marine main engine mathematical model input end; The output terminal actual speed connects the automatic disturbance rejection controller input end.

Above-mentioned said automatic disturbance rejection controller is made up of TD (tracking differentiator), ESO (extended state observer) and three parts of NLSEF (nonlinear state Error Feedback); Wherein, the given speed signal is connected to the TD input end, arranges transient process, realizes the quick non-overshoot of system input signal is followed the tracks of, and provides good differential signal; Input control signal and the actual speed signal of controlled device are connected to ESO, are used for the estimating system state, obtain the state estimation of system's controlled device; The error signal that obtains after relatively with differential signal is connected to the NLSEF signal input part, through suitable " nonlinear configurations ", just realize nonlinear state Error Feedback control law, from signal output part control signal has been exported, sent into the input end of throttle servo control mechanism.

Above-mentioned said throttle servo control mechanism and marine main engine mathematical model are set up the integrated mathematical model of marine main engine that comprises the throttle servo control mechanism.

Above-mentioned said stormy waves flow disturbance signal adopts comprehensive normal distribution random disturbance and comprehensive evenly random disturbance signal.

Principle of work of the present invention: actual speed signal sends automatic disturbance rejection controller to; Automatic disturbance rejection controller is handled given speed signal and actual speed signal respectively, arrange transient process to handle the given speed signal, actual speed signal is handled through extended state observer, again above two class signals are subtracted each other processing respectively, obtain the differential signal of error signal and error signal, it is carried out outputing control signals to the integrated mathematical model of the marine main engine that comprises the throttle servo control mechanism after the nonlinear combination processing then; After the integrated mathematical model of marine main engine is received the control signal of automatic disturbance rejection controller output, through inter-process, adjust throttle, change the marine main engine rotating speed, thereby reach the purpose of control speed of the ship in metres per second.

The invention has the beneficial effects as follows, the marine main engine automatic disturbance rejection controller overcomes marine main engine rotating speed control procedure and all exists non-linear, time to become and be subjected to the interference of environment and have probabilistic problem, make marine main engine speed switching controls process fast, smoothly, throttle is adjusted little, can realize high-accuracy speed.

Description of drawings

The present invention is further described below in conjunction with drawings and Examples.

Fig. 1 is system construction drawing of the present invention.

Fig. 2 is automatic disturbance rejection controller of the present invention.TD follows the tracks of differentiator among the figure, and ESO is extended state observer, and NLSEF is the nonlinear state Error Feedback, and v is system input signal, follows the tracks of the v of differentiator ₁Be to arrange transient process, v ₂..., v _nThe all-order derivative of transient process for this reason, z ₁..., z _nBe the estimation of extended state observer to the state variable of controlled device, z _N+1Be considered as the unknown disturbance estimation of (comprising external disturbance and ambiguous model), e ₁..., e _nBe the deviation of above-mentioned two kinds of variablees, u ₀Be the Error Feedback controlled quentity controlled variable, u is controlled quentity controlled variable, and y is system output signal, and ω is the external disturbance signal.

Embodiment

A kind of marine main engine automatic disturbance rejection controller is seen Fig. 1, and this system is by comprising that automatic disturbance rejection controller (1), throttle servo control mechanism (2), marine main engine mathematical model (3), stormy waves flow disturbance signal (4) constitute; The input end inbound pacing setting signal of said automatic disturbance rejection controller and compared by actual speed signal, after automatic disturbance rejection controller was handled, output terminal connected the input end of throttle servo control mechanism, transmitted the output control signal; Throttle servo control mechanism output terminal connects marine main engine mathematical model input end; The output terminal actual speed connects the automatic disturbance rejection controller input end.

Automatic disturbance rejection controller (1) is seen Fig. 2, is made up of TD (tracking differentiator), ESO (extended state observer) and three parts of NLSEF (nonlinear state Error Feedback); Wherein, the given speed signal is connected to the TD input end, arranges transient process, realizes the quick non-overshoot of system input signal is followed the tracks of, and provides good differential signal; Input control signal and the actual speed signal of controlled device are connected to ESO, are used for the estimating system state, obtain the state estimation of system's controlled device; The error signal that obtains after relatively with differential signal is connected to the NLSEF signal input part, through suitable " nonlinear configurations ", just realize nonlinear state Error Feedback control law, from signal output part control signal has been exported, sent into the input end of throttle servo control mechanism.Native system adopts the second order automatic disturbance rejection controller.

Design according to the second order automatic disturbance rejection controller can controlled algorithm be:

(1) TD discrete logarithm

The discrete form of second order TD is:

$\left\{\begin{array}{c}{v}_1(k+1)=v_1\left(k\right)+{\mathrm{Tv}}_2\left(k\right)\\ v_2(k+1)=v_2\left(k\right)+\mathrm{Tfhan}(v_1\left(k\right)-v\left(k\right),v_2\left(k\right),r,h)\end{array}\right.---\left(1\right)$

Fhan (v in the formula ₁, v ₂, r h) is time-optimal control comprehensive function, v ₁Tracker input signal v, v ₂Follow the tracks of the derivative of v, r, the parameter of h for regulating, T is step-length.

(2) ESO discrete logarithm

For second-order system, the discrete logarithm of ESO is:

$\left\{\begin{array}{c}e\left(k\right)=z_1\left(k\right)-y\left(k\right)\\ z_1(k+1)=z_1\left(k\right)+T[z_2\left(k\right)+{\mathrm{\β}}_{01}e\left(k\right)]\\ z_2(k+1)=z_2\left(k\right)+T[z_3\left(k\right)-{\mathrm{\β}}_{02}\mathrm{fal}(e\left(k\right),0.5,{\mathrm{\δ}}_{01})+b_{0}u\left(k\right)]\\ z_3(k+1)=z_3\left(k\right)-T{\mathrm{\β}}_{03}\mathrm{fal}(e\left(k\right),0.25,{\mathrm{\δ}}_{02})\end{array}\right.---\left(2\right)$

Z in the formula ₁(k), z ₂(k), z ₃(k) be extended state observer to by the estimation of the state variable of object, y (k) is the controlled output of system, δ ₀₁, δ ₀₂, b ₀, β ₀₁, β ₀₂, β ₀₃Be adjustable parameter, T is sampling step length.

(3) discrete logarithm of NLSEF

The discrete logarithm that the NLSEF of error forms controlled quentity controlled variable is:

$\left\{\begin{array}{c}{e}_1\left(k\right)=v_1\left(k\right)-z_1\left(k\right)\\ e_2\left(k\right)=v_2\left(k\right)-z_2\left(k\right)\\ u_0\left(k\right)=k_p\mathrm{fal}(e_1\left(k\right),{\mathrm{\α}}_1,{\mathrm{\δ}}_1)+k_d\mathrm{fal}(e_2\left(k\right),{\mathrm{\α}}_2,{\mathrm{\δ}}_2)\\ u\left(k\right)=u_0\left(k\right)-\frac{z_3\left(k\right)}{b_0}\end{array}\right.---\left(3\right)$

K in the formula _p, k _d, δ ₁, δ ₂, α ₁, α ₂, b ₀Be adjustable parameter.

Throttle servo control mechanism (2) and marine main engine mathematical model (3) are set up the integrated mathematical model of marine main engine that comprises the throttle servo control mechanism.The diesel engine main frame that adopts is MAN B﹠amp; W S60M large-sized low-speed diesel engine (60 represent cylinder diameter be 60cm), its main ship model parameter is: main frame time constant T ₁Be 12.1 seconds, main frame amplification coefficient K is 93.8, and throttle shift pure retardation time of τ is 0.037 second.Obtain the integrated mathematical model of marine main engine:

$G\left(S\right)=\frac{93.8}{12.1S+1}\·\frac{1062.76}{S^2+45.9S+1062.72}\·e^{-0.037S}---\left(4\right)$

Stormy waves flow disturbance signal (4) adopts comprehensive normal distribution random disturbance and comprehensive evenly random disturbance signal.

Wind, wave, the comprehensive normal distribution random disturbance of stream:

ω＝(4.58H ₁+3.44H ₂)°(5)

In the formula, H ₁, H ₂It is the pseudo-random variable of two separate obedience standardized normal distribution N (0,1).

Wind, wave, the comprehensive evenly random disturbance of stream:

ω＝(4.58H ₃+3.44H ₄)°(6)

In the formula, H ₃, H ₄Be the equally distributed pseudo-random variables of two separate obediences [0,1].

Principle of work of the present invention: actual speed signal sends automatic disturbance rejection controller to; Automatic disturbance rejection controller is handled given speed signal and actual speed signal respectively, arrange transient process to handle the given speed signal, actual speed signal is handled through extended state observer, again above two class signals are subtracted each other processing respectively, obtain the differential signal of error signal and error signal, then it is carried out nonlinear combination and handle the integrated mathematical model of marine main engine that outputs control signals to the throttle servo control mechanism afterwards; After the integrated mathematical model of marine main engine is received the control signal of automatic disturbance rejection controller output, through inter-process, adjust throttle, change the marine main engine rotating speed, thereby reach the purpose of control marine main engine speed.

Embodiment

The digital spitkit auto navigator of the present invention's development as shown in Figure 1, mainly comprises:

Controller unit (1), adopt 32 advanced Cortex STM32 series A RM microprocessors, by gathering the boats and ships actual heading signal that the magnetic compass sensor detects, compare with given course signal, if there is deviation namely to get crab angle, produce rudder angle of declination by algorithm, compare according to it and actual rudder angle, obtain the actual rudder angle deviation and remove to control rudder, thereby change course, so repeatedly, be zero until actual heading and the two deviation of given course signal, reach the boats and ships course purpose of travelling in accordance with regulations;

Given course signal unit (2) is the voltage signal that is produced by potentiometer knob, and voltage range is 0～3.3V, and corresponding course 0-360 degree gets final product by the processing of ARM controller AD passage;

Actual heading signal element (3), obtained by the magnetic compass sensor, but magnetic compass records course information and can only be read by naked eyes, therefore use the magnetic compass converter, the course information of mechanical type magnetic compass is converted to digital signal, communicates with 485 bus interface half-duplex modes and controller;

Actual rudder angle signal element (4), record by the rudder angle feedback assembly, and with voltage signal form output, but because of voltage signal can not teletransmission, developed the rudder angle dispensing device voluntarily, by it voltage signal has been converted to digital signal and sends to controller with 485 bus modes;

Driving circuit for electromagnetic valve unit (5), thereby the control of Hydraulic Drive in Vessel steering gear system only need change the motion of liquid flow control rudder by the switching of control solenoid valve, the required drive current of control solenoid valve is generally all bigger, and the switch number of times is more frequent in the steering process, selected for use the metal-oxide-semiconductor IRF9540N of big electric current as the switching device of control solenoid valve, also select for use TLP521 to do electrical isolation, effective isolation the undesired signal introduced of solenoid valve end, realize effective control of solenoid valve;

HDT (bow to) signal element (6) is with the HDT signal of the outside outputting standard of 485 bus modes, so that other ship equipment uses;

Display unit (7) is outwards exported actual rudder angle, is given information such as vectoring, actual heading with 485 bus modes, utilizes corresponding Displaying Meter to show.

The complete machine principle of work as shown in Figure 2, manufacture and design a kind of digital spitkit auto navigator, controller adopts 32 advanced CortexSTM32 series A RM microprocessors, by gathering the boats and ships actual heading signal that the magnetic compass sensor detects, compare with given course signal, if there is deviation namely to get crab angle, produce rudder angle of declination by algorithm, compare according to it and actual rudder angle, obtain the actual rudder angle deviation and remove to control rudder, thereby change course, so repeatedly, be zero until actual heading and the two deviation of given course signal, reach the boats and ships course purpose of travelling in accordance with regulations.

Claims (4)

1. a marine main engine automatic disturbance rejection controller is characterized in that this system is by comprising that automatic disturbance rejection controller, throttle servo control mechanism, marine main engine mathematical model, stormy waves flow disturbance signal constitute; The input end inbound pacing setting signal of said automatic disturbance rejection controller and compared by actual speed signal, after automatic disturbance rejection controller was handled, output terminal connected the input end of throttle servo control mechanism, transmitted the output control signal; Throttle servo control mechanism output terminal connects marine main engine mathematical model input end; The output terminal actual speed connects the automatic disturbance rejection controller input end.

2. above-mentioned said automatic disturbance rejection controller is made up of TD (tracking differentiator), ESO (extended state observer) and three parts of NLSEF (nonlinear state Error Feedback); Wherein, the given speed signal is connected to the TD input end, arranges transient process, realizes the quick non-overshoot of system input signal is followed the tracks of, and provides good differential signal; Input control signal and the actual speed signal of controlled device are connected to ESO, are used for the estimating system state, obtain the state estimation of system's controlled device; The error signal that obtains after relatively with differential signal is connected to the NLSEF signal input part, through suitable " nonlinear configurations ", just realize nonlinear state Error Feedback control law, from signal output part control signal has been exported, sent into the input end of throttle servo control mechanism.

3. above-mentioned said throttle servo control mechanism and marine main engine mathematical model are set up the integrated mathematical model of marine main engine that comprises the throttle servo control mechanism.

4. above-mentioned said stormy waves flow disturbance signal adopts comprehensive normal distribution random disturbance and comprehensive evenly random disturbance signal.

Images