Changshun Wang

Design and simulation of ship course controller based on auto disturbance rejection control technique

Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effect of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions and the model of wave disturbances. The simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances. And the course switching is fast and smooth with small rudder turning volume, thus achieved high-accurate ship course control.

A fuzzy sliding mode controller and its application on ship course control

Though sliding mode variable structure controller has good robustness and high stability, its chattering phenomenon is widely exist. A fuzzy sliding mode controller is designed based on exponential approach law by combining sliding control and fuzzy control in this paper. The computer simulation is applied to verify the advance of the fuzzy sliding mode controller and the controller is applied to ship course control. The simulation results verify this controller is very effective.

Design and realization of autopilot system based on ARM for small vessel

The paper introduced autopilot system for small vessel. Switch problem between hand steering and wheel steering is solved by used relay with normally open contact and normally close contact.485 bus is used to solve the transmission problem of rudder signal. Confirmed by tried in a fished boat, the autopilot system is high reliability, good stability, obvious energy-saving.

Design of Ship Main Engine Speed Controller Based on Expert Active Disturbance Rejection Technique

Applying mathematics model of nonlinear ship main engine control and the wave disturbances to the design of electronic governor, and considering the uncertainty of model parameters and the characteristics of servo-system makes the model have the unmatched uncertainty correspondingly. In order to solve the difficulty, an active disturbance rejection nonlinear control strategy is proposed, and the expert system is used to modify parameters of ADRC online which improve the ADRC’s adaptive capacity. A ship main engine genetic algorithm ADRC controller is designed. The simulation results of ship main engine (ME) speed tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances. And the speed switching is fast and smooth, thus achieved high-accurate ship ME speed control.

Nonlinear active disturbance rejection controller research of main engine for ship

Applying mathematics model of nonlinear ship main engine control and the wave disturbances to the design of electronic governor, and considering the uncertainty of model parameters and the characteristics of servo-system makes the model have the unmatched uncertainty correspondingly. In order to solve the difficulty,an active disturbance rejection nonlinear control strategy is proposed,and a ship main engine ADRC controller is designed. The simulation results of ship main engine (ME) speed tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances. And the speed switching is fast and smooth with small throttle turning volume, thus achieved high-accurate ship ME speed control.

Design of Ship Course Controller Based on Optimal Active Disturbance Rejection Technique

Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effects of wave disturbances, designing a high performance ship course controller is always a difficult work. In order to solve the difficulty, an active disturbance rejection nonlinear control strategy is proposed, and the genetic algorithm is used to modify parameters of ADRC online which improve the ADRCs adaptive capacity. A ship course optimal ADRC controller is designed. The simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances.

Research on RBFNN sliding mode control and its application in ship course control

Sliding mode variable structure control and RBF neural network has complementary advantages in nonlinear application field. The characteristics of variable structure control and RBF neural network are introduced. Several methods combining variable structure control and RBF network are summarized and studied. Ship motion nonlinear mathematical model is established. A sliding mode controller based on RBF neural network gain adjustment is applied in ship course control and the simulation results show that the chattering of sliding mode control is greatly reduced and better control effect is obtained.

Research and realization of simulation control system for rudder and ship with autopilot

The design project and realization approach to simulate ship — rudder control system with course & track autopilot in real navigation environment are introduced which combine digital simulation with physical simulation. Various math models are established during the process of ship movements. The main control software and single-chip microcomputer system used for the actual ship simulation system are developed. The system shows great economic benefit to reduce the cost for manufacturing and maintaining autopilots.