The invention provides a fault-tolerant anti-interference method for dynamic positioning of an offshore spaceflight launching and recycling ship, and belongs to the technical field of automatic control of the offshore spaceflight launching and recycling ship. The method provided by the invention is mainly oriented to research on dynamic positioning control of an offshore spaceflight launch and recovery ship considering unknown external marine environment interference and hybrid fault of a propeller, and applies an interference observer, a deviation fault observer and a multiplicative fault adaptive observer; the problems of on-line estimation and suppression of unknown external marine environment interference suffered by dynamic positioning of an offshore spaceflight launch and recovery ship and estimation and compensation of mixed faults of a propeller of the offshore spaceflight launch and recovery ship are solved. The composite fault-tolerant anti-interference controller is used for correcting the tracking feedback control error problem, the anti-interference capability of the marine spaceflight launching and recycling ship is effectively enhanced, the control reliability of the marine spaceflight launching and recycling ship is improved, and the expected position of the marine spaceflight launching and recycling ship achieves the expected effect.
本发明提供一种海上航天发射与回收船舶动力定位容错抗干扰方法,属于海上航天发射与回收船舶自动控制技术领域;本发明的方法主要面向考虑未知外界海洋环境干扰和推进器发生混合故障的海上航天发射与回收船舶动力定位控制的研究,运用干扰观测器和偏差故障观测器以及乘性故障自适应观测器,解决海上航天发射与回收船舶动力定位所受到的未知外界海洋环境干扰在线估计抑制和对海上航天发射与回收船舶推进器发生的混合故障进行估计和补偿问题;通过利用复合容错抗干扰控制器来矫正跟踪反馈控制误差问题,有效增强海上航天发射与回收船舶的抗干扰能力,提高了海上航天发射与回收船舶控制的可靠性,使海上航天发射与回收船舶的期望位置达到预期效果。
Offshore spaceflight launching and recycling ship dynamic positioning fault-tolerant anti-interference method
一种海上航天发射与回收船舶动力定位容错抗干扰方法
2023-07-04
Patent
Electronic Resource
Chinese
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