JOURNAL OF COMPUTERS, VOL. 8, NO. 2, FEBRUARY 2013 455 Dynamic Positioning Nonlinear Control System of the Dredger Based on Profinet IO Yu-hua Zhang1, 2 1Key Lab of Control of Power Transmission and Transformation, Ministry of Education, Shanghai Jiaotong University, Shanghai, China 2School of Electrical Engineering and Automation, Henan Polytechnic University, Jaozuo, China Email:
[email protected] Jian-guo Jiang and Yan-jun Jiang Key Lab of Control of Power Transmission and Transformation, Ministry of Education, Shanghai Jiaotong University, Shanghai, China Email:
[email protected],
[email protected] Abstract— A dredger’s dynamic positioning system (DPS) is 1st-order wave motions from the low frequency (LF) designed with real-time Profinet IO structure and nonlinear positions while reconstructing LF velocities [4, 5]. All control algorithm. Real-time industrial Ethernet is used in these have been realized by using linear Kalman filter. this system to improve the real-time performance. Unfortunately, the results of Kalman filter are only valid Noise-free estimates of the position and the velocity are locally. This motivates the research on nonlinear ship produced by the observer, and the adaptive dynamic surface control. Backstepping method is the first attempt towards control (ADSC) algorithm is adopted to solve the special problem of the dredger with strong disturbances. nonlinear output feedback control of dynamic positioning Disturbances can be estimated and compensated by system. And a passive nonlinear observer is proposed in adaptive arithmetic. This work solves the contradiction Ref. [6]. between the real-time control requirement and complex Dynamic surface control technique is an improved control algorithms well.