Research And Realization Of Ship Navigation Active Disturbance Rejection Controller

Ship navigation controller is the important equipment for ship maneuvering. Its performance can directly impact the economic, safety and comfort of the voyage. For the dynamic nature of the ship with a high inertia, large time delay, nonlinear and the influence by the model parameter perturbation as well as wind, waves, currents and other disturbances, the effect of the traditional PID controller navigation is not very good. In response, this paper will use Active Disturbance Rejection Control technique(ADRC) to solve the robustness problem of ship navigation control.ADRC is a new nonlinear controlling method which has good effect in a class of uncertain systems. The method using extended state observer(ESO) to estimate the total interference of the system, including internal dynamic and uncertain external disturbances, the dynamic compensation of linear-based approach through the system into a series-type systems integrator, and then use the nonlinear state error feedback(NLSEF) completion of a class of uncertain object model control.Firstly, this paper introduces the mathematical model of the ship motion, analyzes and shows the equivalent interference model of the wind, wave and current. And finally takes the Bech model with the nonlinearity steering engine characteristic as an simulation object of this article. Then on the basis of analysing the advantage and disadvantage of the typical PID controller. It detailedly introduces the basic principles of the tracking differentiator(TD), extended state observer(ESO) and nonlinear state error feedback(NLSEF), and gives the standard ADRC structure. Aiming at the Non-linear characteristics of a steering gear for Bech model, a third-order ADRC be used as ship navigational controller.This article is based on the research of comprison and simulation of optimized ship navigational PID controller by NCD and ADRC controller. It shows that under the condition of ship ADRC controller, the course keeping, course changing, external low frequency interference, parameter perturbations, ship navigation ADRC controller has a better control effect compared with optimized PID.Finally, it gives the hardware design of the ship navigation ADRC controller and heading / rudder angle repeater, provides the basic platform for the further study and paves the way for transferring the ADRC theory into product.