SHIP CONTROL TECHNOLOGY COMBINING THREE DEGREE OF FREEDOM ADRC AND GWO

Modern ocean engineering is developing towards higher precision, which requires higher requirements for dynamic positioning control of ships.However, stable and high-precision dynamic positioning under complex sea conditions is difficult to ensure.This study aims to propose a novel dynamic positioning control strategy that integrates active disturbance rejection control and grey wolf algorithm to improve the positioning accuracy and response speed of ships.An improved three degree of freedom independent active disturbance rejection control is designed for ships.The grey wolf algorithm is adopted for real-time parameter tuning.A three degree of freedom dynamic positioning control system for ships is constructed.In the results, the grey wolf optimization algorithm basically completed convergence after 127 iterations, which had stronger optimization ability than particle swarm optimization algorithm and genetic algorithm.The control system reduced the time to reach steady state in the longitudinal and transverse directions by 4s and 9s, respectively, compared to the ship active disturbance rejection control system based on particle swarm optimization algorithm.Therefore, this model can achieve three degrees of freedom stable control, quickly recover to the target position in a disturbance environment, and has excellent dynamic positioning control performance.The research results provide a reference for improving the active disturbance rejection performance of ship dynamic positioning control systems.