Abstract: The ship heading motion system has typical nonlinearity and uncertainty, and is subject to the constraints of the autopilot execution capability and the interference of wind, waves, currents, etc., making the design of the heading controller very difficult. In view of the above problems, the nonlinear mathematical model of ship motion with steering gear constraints and the mathematical model of wave disturbance are given, the principle of ADRC is briefly introduced, and the ship heading ADRC controller is designed. The simulation results show that the controller has strong robustness to the nonlinearity of ship heading motion, parameter uncertainty, environmental uncertainty and model changes of the control object. The heading switching control process is fast and smooth, the steering amount is small, and high-precision heading keeping control can be achieved. Keywords: Ship nonlinear system model; Heading controller; ADRC
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