The invention provides a ship steering engine active anti-interference model-free control method with a tracking differentiator, and is suitable for ship steering engine system control. The method comprises the following steps: inputting an expected rudder order to a ship steering engine system; establishing a steering engine system dynamic model by using a modularization idea; establishing a dynamic tight-format dynamic linearization data model of the ship steering engine system based on the pseudo-partial derivative; the ship steering engine active anti-interference model-free controller with a tracking differentiator is designed for solving the problem of sensor measurement disturbance caused by interference of waves, wind, water flow and the like in the sailing process of a ship under the severe sea condition. The inclination angle of the swash plate is changed through the servo oil cylinder, then the hydraulic oil flow of the swash plate type axial plunger variable pump is controlled, finally, the sinker bar of the steering mechanism is pushed to move, and the sinker bar pushes the tiller to complete rotation of the rudder blade. According to the method, the design of the controller is completed by using the data information of the steering engine system, the anti-interference performance and the robustness are high, and the tracking speed of the steering engine system under the severe sea condition for the rudder angle signal is increased.
本发明提出了带跟踪微分器的船舶舵机主动抗扰无模型控制方法,适用于船舶舵机系统控制。其步骤包括:向船舶舵机系统输入期望舵令;利用模块化思想建立舵机系统动力学模型;基于伪偏导数建立船舶舵机系统动力学紧格式动态线性化数据模型;针对恶劣海况下船舶在航行过程中由于波浪、风和水流等干扰引起的传感器测量扰动问题,设计带跟踪微分器的船舶舵机主动抗扰无模型控制器;通过伺服油缸改变斜盘倾角,进而控制斜盘式轴向柱塞变量泵液压油流量,最终推动转舵机构撞杆运动,撞杆推动舵柄来完成舵叶转动。该方法通过利用舵机系统的数据信息,来完成控制器的设计,有较强的抗干扰性和鲁棒性,提高了舵机系统在恶劣海况下舵角信号的跟踪速度。
Active anti-interference model-free control method for ship steering engine with tracking differentiator
带跟踪微分器的船舶舵机主动抗扰无模型控制方法
2022-11-25
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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