The Research On Active Disturbance Rejection Control Of Ship Pneumatic Anti-heeling System

Closely related to the safety performance of ship anti heeling control and ship in port operations and maritime navigation,with the continuous development of the shipping industry and progress,especially the new challenges of future smart ship manipulation and safety of the ship,the ship anti heeling system research and application of automatic control strategy is a very important research topic.Aiming at the uncertain nonlinear ship anti heeling control problem,taking the ship Pneumatic anti heeling system as the controlled object,this paper focuses on the active disturbance rejection control technology and its application in the ship anti heeling.Firstly,the structure and working principle of the ship anti heeling device are analyzed in detail.Based on the statics and dynamics analysis of the ship's heeling motion,a mathematical model of the ship's heeling motion is established.In static analysis,the effect of load movement on ship lateral floating state and the influence of loading and unloading on ship lateral floating state are mainly studied.In dynamic analysis,the motion process of ship under the action of sudden torque is studied.Then,the active disturbance rejection control(ADRC)technology is deeply analyzed for uncertain nonlinear ship anti heeling control problems.The development process from classical PID control to nonlinear PID control and ADRC control is discussed in detail.Taking the two order ADRC as an example,the principle and algorithm of each component in ADRC are analyzed and introduced,and the discrete control algorithm of ADRC is given.The parameters of ADRC are discussed and analyzed.Based on the principle and application of ADRC,a set of practical parameters tuning method is given.Based on the ship Pneumatic anti heeling system,an active disturbance rejection controller(ADRC)is designed to improve the performance of the control system.Finally,through a series of simulation tests,the ADRC is compared with the classical PID controller and the nonlinear PID,and the excellent performance of ADRC in the ship heeling motion control is verified.