Method for active disturbance rejection roll controller of vehicle under disturbance of complex sea conditions

Patent metadata

Field	Value
Publication number	US-11874672-B2
Application number	US-202217845313-A
Country	US
Kind code	B2
Filing date	Jun 21, 2022
Priority date	Sep 29, 2021
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

The present disclosure provides a design method for an active disturbance rejection roll controller of a vehicle under disturbance of complex sea conditions, including: step 1: establishing a vehicle roll attitude control model; step 2: designing an active disturbance rejection controller (ADRC) on the basis of the control model in step 1 and a pole placement method; and step 3: performing an active disturbance rejection roll control by using the active disturbance rejection controller in step 2. The present disclosure solves the problem of a stable control of the vehicle under the disturbance of the complex sea conditions.

First claim

The invention claimed is:

1. A method for controlling a vehicle using an active disturbance rejection roll controller under disturbance of complex sea conditions, the method comprising:
step 1: acquiring a plurality of parameters of the vehicle, the plurality of parameters comprising a moment of inertia of the vehicle along an x axis, additional mass of the vehicle along the x axis, density of an environment where the vehicle is located, a velocity of the vehicle, a characteristic area of the vehicle, a characteristic length of the vehicle, a roll moment damping constant of the vehicle, an angular velocity in roll of the vehicle, a relative derivative of a roll control moment of the vehicle, an equivalent roll rudder deflection angle of the vehicle, and a disturbance moment caused by the complex sea conditions around the vehicle;
step 2: establishing a vehicle roll attitude control model based on the plurality of parameters;
step 3: designing an active disturbance rejection controller (LADRC) on the basis of the control model in step 2 and a pole placement method; and
step 4: controlling the vehicle by using the active disturbance rejection controller in step 3,
wherein
in step 2, according to a theorem of momentum and moment of momentum, an equation of the roll motion is obtained as follows:

{

J
x

⁢

w
.

x

+

(

J
z

-

J
y

)

⁢

w
y

⁢

w
x

=

A

m
x

β

⁢

v
2

⁢
β

-

A

m
x

δ

⁢

v
2

⁢

δ
d

-

A

m
x

w

⁢

v
2

⁢

w
x

+

A

m
xp

⁢

v
2

-

λ

4
⁢
4

⁢

w
.

x

-

B
⁡
(

z
b

⁢

cos
⁢

φ

+

h
⁢

sin
⁢

φ

)

Assignees

• Harbin Inst Technology

Inventors

• Bai Yuliang
• Wang Xiaogang
• Zhang Zichen
• Wang Shuai
• Shan Yongzhi
• Xu Tianfu
• Zhang Xiaoshuai
• Guo Jianming
• Quan Yaxu
• Dong Ligang

Classifications

• G05D1/0875 Primary

  specially adapted to water vehicles · CPC title

• Y02T90/00

  Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation · CPC title

• G05D1/69

  Coordinated control of the position or course of two or more vehicles · CPC title