船舶运动饱和控制

发布时间：2018-09-17 15:32

【摘要】：20世纪80年代末90年代初,Backstepping设计方法被提出,这是一种构造反馈控制率和Lyapunov函数的递归非线性设计方法,一直沿用至今,它是解决非线性系统控制问题的一种有效方法。由于研究的需要,本文对Backstepping设计方法和Lyapunov稳定性理论进行了介绍。首先,对于一类非线性系统的输入饱和限制问题,针对系统带有参数不确定和未知干扰的情况,利用双曲正切函数逼近饱和非线性辅助补偿,提出了一种控制算法,保证了系统的稳定性,得到了良好的控制效果。然后,对于船舶航向保持控制系统也存在输入饱和问题,本文又将此算法应用到船舶的航向保持控制系统,有针对性地设计出了一个船舶航向保持控制器。该控制器能够使船舶在跟踪设定航向时误差任意小,达到系统渐近稳定。本文的控制器算法保证了闭环系统的稳定性,并且都能使得航向跟踪误差任意小,最后用MATLAB进行仿真研究,验证了控制器的有效性。
[Abstract]:The backstepping design method was proposed in the late 1980s and early 1990s. It is a recursive nonlinear design method for constructing feedback control rate and Lyapunov function. It is an effective method to solve the control problem of nonlinear systems. Due to the need of research, the Backstepping design method and Lyapunov stability theory are introduced in this paper. Firstly, for the input saturation limitation problem of a class of nonlinear systems, a control algorithm is proposed for the system with uncertain parameters and unknown disturbances, and the hyperbolic tangent function is used to approximate the saturation nonlinear auxiliary compensation. The stability of the system is guaranteed and good control effect is obtained. Then, for the problem of input saturation in the ship course keeping control system, this paper applies this algorithm to the ship course maintenance control system, and designs a ship course maintenance controller. The controller can make the error of ship track and set course any small and achieve the asymptotic stability of the system. The stability of the closed-loop system is guaranteed by the controller algorithm in this paper, and the course tracking error can be reduced arbitrarily. Finally, the simulation research with MATLAB is carried out to verify the validity of the controller.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U664.82

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