A Design of Autopilot Based on the Feedback Linearization Optimal Heading Control Algorithm

A Design of Autopilot Based on the Feedback Linearization Optimal Heading Control Algorithm

Zhipeng Sun, Qin Wu, Xiaogang Li, Hongbo Wang
Copyright: © 2019 |Pages: 16
DOI: 10.4018/JITR.2019010110
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Abstract

This article designs a heading control autopilot which contains three parts: a control and display unit (CDU); a steering control unit (SCU) and a algorithm control unit (ACU), adopting the feedback linearization optimal control algorithm in the ACU. The characteristic of this algorithm is that it combines the nonlinear disturbance existing in the ship motion and the ship's feedback rudder angle into a new rudder angle, so that the impact disturbance could be eliminated. This autopilot has completed closed-loop experiments in the lab under the semi-physical situation. According to the test results, the autopilot hardware circuit has high stability, as well as fast operation speed. The control algorithm has the merits of a lower steering number and strong anti-jamming capability.
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Structure

The autopilot in this paper is used for ship heading control. It consists of four parts: the Control and Display Unit, the Algorithm Control unit, the Steering Control Unit and the Power Supply Unit as shown in the Figure 1.

Figure 1.

Structure diagram

JITR.2019010110.f01

The power unit is the power source for the whole system. The power unit gets its energy form the ship with the voltage ranging from 0V to 24V, then the voltage switches to 5V via a switching mode power supply, finally, the voltage becomes 3.3V by the three-terminal positive voltage regulator, and it is used as the power supplement for other chips. To improve the reliability of the signals, the power unit has two sets of independent power supplement chips and ground. So, this can effectively isolate the interference signal generated by the power supply.

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