Active Disturbance Rejection Control Design And Parameters Optimal Configuration For Ship Steering

Aiming at the disturbance rejection control and parameter optimization configuration of ships with internal parameter uncertainty and external disturbances,based on the linear active disturbance rejection control(LADRC),the ship steering controller is established.Taking into account the wave disturbance signal,limiting the amplitude and speed of the rudder,the stability and robustness of the ship steering linear active disturbance rejection control system are analyzed from the frequency domain perspective.Considering the execution limitations of the actual ship steering control system,the fitness function is designed that is more in line with the experience of ship steering.Finally,the moth-flame optimization(MFO)algorithm is applied to optimize the configuration of system parameters.The main innovations of this article are as follows:(1)A ship steering active disturbance rejection controller is designed for offshore ships with internal parameter uncertainty and external disturbances,and the problems of rudder angle limit and speed limit in the rudder model are solved.(2)Using frequency domain analysis,systematically analyze the ability of the designed active disturbance rejection controller to suppress external wave disturbances,and the robustness of the internal parameters uncertainty,and calculate the cut-off frequency under different control bandwidth and observation bandwidth,so that the bandwidth parameters of the controller can be reasonably configured.The configuration rules of ship steering controller parameters are proposed.A calculation method of feedback control bandwidth based on sliding mode control theory is designed.(5)Aiming at the problem that the dynamic process and the steady state process have different requirements on the control system,the gain scheduling theory is introduced,the control system is divided into modes according to the error size,and the two modes are controlled by different parameter combinations.Considering the execution limitations of the actual ship’s course control system,an adaptability function is designed for the parameter optimization process that is more in line with marine steering experience.Apply the group intelligence optimization algorithm with better global search effect and faster convergence speed—moth-flame optimization algorithm to set the parameters of the ship steering linear active disturbance rejection control system based on gain scheduling strategy.Through calculation and simulation experiments,the effectiveness and superiority of the controller’s disturbance rejection performance and parameter optimization configuration method established in this paper are verified.Provide a reference for the development of the next generation of intelligent ships.