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首页> 外文会议>World Congress on Intelligent Control and Automation;WCICA 2012 >ADRC controller used in dynamic positioning system of a rescue ship
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ADRC controller used in dynamic positioning system of a rescue ship

机译：用于救援船动态定位系统的ADRC控制器

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摘要

Dynamic positioning system of marine vehicles has been undergoing a rapid development and application. In this paper a maneuvering mathematical model and a pure sway motion model with three degrees of freedom are established, an ADRC controller for the dynamic positioning system of a rescue ship is designed. The results of simulation indicate that the control performance and robustness of ADRC is significantly better than conventional PID controller, the outputs of rudder angle and pitch of CPP are smoother and gentler improved, the steady state accuracy of control output is better, the adaptability of parameters is extensive. Taking pure sway motion of the rescue ship for example, rapidity and effectiveness of a proposed multi-mode controller are verified.
机译：船舶车辆动态定位系统已经得到快速发展和应用。建立了机动数学模型和具有三个自由度的纯摆运动模型，设计了救援船动态定位系统的ADRC控制器。仿真结果表明，ADRC的控制性能和鲁棒性明显优于传统的PID控制器，舵角和CPP桨距的输出更加平滑柔和，控制输出的稳态精度更好，参数的适应性更强。广泛。以救援船的纯摇摆运动为例，验证了所提出的多模式控制器的快速性和有效性。

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