Research On Intelligent ADRC For Ship Fin Stabilizer System

Anti-rolling fin controller is one of the most important components of the ship anti-rolling fin system, which has a great influence on the security, comfort and stable operation of the ship. Currently, the enlarging scale of ships, which equip with anti-rolling fin, requires anti-rolling fin controller more stable and flexible as well as a high control performance.Pointing to the issue above, the article takes the anti-rolling fin controller as the object of study, simulates the ship rolling in different sea conditions and makes an in-depth simulating research and comparison for intelligent active disturbance rejection control algorithm of anti-rolling fin. The study consists of four sections:Firstly, based on the theory of spectral analysis, the article models and simulates the random sea wave, and makes a simulation study of the long wave dip angle in different sea conditions. According to the analytical result of the force of the ship, a ship linear rolling moving model is built, combining with the data of the ship "Yukun" and "Beihaijiu115".Secondly, the principle and the structural component of the ship Anti-rolling fin control system are analyzed, and all parts’ transfer functions are obtained. Combining with the real ship data of "Beihaijiu115", which is the study object in the article, the ship anti-rolling fin control system is built, based on PID control, and the simulation result is obtained to be compared with that of the open loop for laying a foundation of the further study.Thirdly, the active disturbance rejection control theory based on the non-linear extended state observer can obtain the object’s perturbation and the information of disturbances promptly, real-timely and accurately. Through the estimation of the system’s unknown disturbances and uncertain variables, the obtained estimating value is fed back to the system, leading to the realization of the dynamic linearization of the uncertain non-linear system. A simulation study is made for the anti-rolling fin control system which is based on active disturbance rejection controller, and the calculation result shows that there is a satisfying adaptability, robustness and control effect in the system.Finally, active disturbance rejection controller is combined with the neural network, for active disturbance rejection controller and its extended state observer has the estimation performance of system’s uncertain disturbance. Using the neural network to compensate a part of change of the control object, the burden of extended state observer is reduced, and then the neural network-active disturbance rejection controller, which has a stronger robustness, is obtained. The result of simulation shows that the neural network-active disturbance rejection control system designed in the article is better able to deal with the more complicated the sea conditions and get a good anti-rolling effect.