Research on path tracking active disturbance rejection control method for new energy ships
The motion path control of new energy ships is under-drive control,and the traditional PID control has poor dynamic performance,which cannot adapt to the disturbance problems encountered in the movement of new energy ships.On the basis of the motion analysis of new energy ships,this paper proposes a design scheme of path tracking ADR rejection controller for new energy ships,which includes rudder angle ADR controller,expansion state observer and tracking differen-tiator,etc.,and the rudder angle ADR controller,expansion state observer and tracking differentiator are designed in detail,and the ADR control of new energy ships is simulated by Matlab,and the simulation results of trajectory tracking,heading angle change and speed change are obtained.The simulation results show that the designed controller can follow the set tra-jectory and has good stability.
new energy shipspath trackingactive disturbance rejectioncontrollermatlab
万方数据
维普
