Dynamic positioning filter design applied on the small ship

Abstract

This paper investigates a filter design method for dynamic positioning control system based on the wave peak frequency tracking algorithm. The wave peak frequency varies randomly with the sea condition, ship speed, wave direction and other factors. The performance of the filter is greatly affected by the real-time recognition of the wave peak frequency. The wave disturbance model is indicated as an autoregressive moving average (ARMA) model and the recursive extended least squares (RELS) algorithm is proposed to identify the wave peak frequency with the auxiliary model idea. A filter with the wave peak frequency tracker is constructed to evaluate the effectiveness of the proposed filter. Ultimately, simulation results show that the proposed filter can effectively track the wave peak frequency and can still effectively reduce the influence of waves on the ship control system when the peak frequency changes.