CN202615141U - Ship host auto-disturbance-rejection controller - Google Patents

Abstract

A ship host auto-disturbance-rejection controller is composed of an auto-disturbance-rejection controller, a throttle servo mechanism, a ship host mathematical model and a wind wave flow interference signal, and is characterized in that the input end of the auto-disturbance-rejection controller receives a speed setting signal and an actual speed signal, after the signals are processed by the auto-disturbance-rejection controller, the output end is connected with the input end of the throttle servo mechanism to transmit and output a control signal; the output end of the throttle servo mechanism is connected with the input end of the ship host mathematical model, and the output end of the ship host mathematical model is connected with the input end of the auto-disturbance-rejection controller. The ship host auto-disturbance-rejection controller overcomes the problems that a ship host rotating speed control process is nonlinear, exists time varying and is interfered by environments to thereby possess uncertainty, so that the ship host speed switching control process is rapid and smooth, the throttle adjustment is small, and the high-precision speed can be realized.

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 also increasingly high to the requirement of security and the economy of navigation, therefore the navigation of boats and ships being controlled 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 both at home and abroad at present marine main engine governing system has adopted digital governor mostly, 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 controlling object receive 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 that permanent coefficient and environmental disturbances change under the condition not too greatly in control system normally, the performance that just can obtain hoping, otherwise; Control system can not guarantee optimal performance, even becomes instability.

Summary of the invention

All exist non-linear, time to become and controlling object receives 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; The throttle adjustment is little, can realize high-accuracy speed.

The utility model solves the technical scheme that its technical matters adopted:

A kind of marine main engine automatic disturbance rejection controller; Constitute by automatic disturbance rejection controller, throttle servo control mechanism, marine main engine mathematical model, stormy waves flow disturbance signal; It is characterized in that: the input end inbound pacing setting signal and the actual speed signal of automatic disturbance rejection controller; 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; Marine main engine mathematical model output terminal connects the automatic disturbance rejection controller input end.

Above-mentioned said automatic disturbance rejection controller is characterized in that automatic disturbance rejection controller forms by following the tracks of differentiator TD, extended state observer ESO and three parts of nonlinear state Error Feedback NLSEF.

Set up the integrated mathematical model of marine main engine that comprises the throttle servo control mechanism by throttle servo control mechanism and marine main engine mathematical model.

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

The principle of work of the utility model: 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 types of signals are subtracted each other processing respectively, obtain the differential signal of error signal and error signal, then 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; After the integrated mathematical model of marine main engine was received the control signal of automatic disturbance rejection controller output, through inter-process, the adjustment throttle changed the marine main engine rotating speed, thereby reaches the purpose of control speed of the ship in metres per second.

The beneficial effect of the utility model is; 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 receive the interference of environment and have probabilistic problem; Make marine main engine speed switching controls process fast, smoothly; The throttle adjustment is little, can realize high-accuracy speed.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further specified.

Fig. 1 is the system construction drawing of the utility model.

Fig. 2 is the automatic disturbance rejection controller of the utility model.TD follows the tracks of differentiator among the figure, and ESO is an extended state observer, and NLSEF is the nonlinear state Error Feedback, and v is a 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 regarded 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 a controlled quentity controlled variable, and y is a 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 made up of automatic disturbance rejection controller (1), throttle servo control mechanism (2), marine main engine mathematical model (3), stormy waves flow disturbance signal (4); The input end inbound pacing setting signal of said automatic disturbance rejection controller and do comparison 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; Output terminal 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; The 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 realized nonlinear state Error Feedback control law, control signal has been exported, sent into the input end of throttle servo control mechanism from signal output part.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:

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

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 a 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, δ ₀₁, δ ₀₂, δ ₀₃Be adjustable parameter, T is a 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&W S60M large-sized low-speed diesel engine (60 represent cylinder diameter be 60cm), and 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].

The principle of work of the utility model: 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 types of 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 was received the control signal of automatic disturbance rejection controller output, through inter-process, the adjustment throttle changed the marine main engine rotating speed, thereby reached the purpose of control marine main engine speed.

Claims (2)

1. marine main engine automatic disturbance rejection controller; Constitute by automatic disturbance rejection controller, throttle servo control mechanism, marine main engine mathematical model, stormy waves flow disturbance signal; It is characterized in that: the input end inbound pacing setting signal and the actual speed signal of automatic disturbance rejection controller; 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; Marine main engine mathematical model output terminal connects the automatic disturbance rejection controller input end.

2. marine main engine automatic disturbance rejection controller according to claim 1 is characterized in that automatic disturbance rejection controller forms by following the tracks of differentiator TD, extended state observer ESO and three parts of nonlinear state Error Feedback NLSEF.

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