舵鳍联合减摇系统建模与反步滑模自适应控制

发布时间：2018-04-15 06:20

本文选题：舵鳍联合减摇 + 四自由度模型　；参考：《大连海事大学》2017年硕士论文

【摘要】：舵鳍联合减摇是二十世纪新兴起来的一种新型减摇控制策略,它集合了舵减摇和鳍减摇两者的优势,能够保证船舶在海上航行时不会发生剧烈的横摇,同时也使船舶的航向得到了控制。本文建立了能够比较全面反映船舶运动的四自由度非线性数学模型,并在此基础上,重点研究舵鳍联合减摇反步滑模自适应控制,本文主要针对以下几方面内容进行了研究:首先,基于MMG建模思想,本文参考了孙景浩模型建立了4自由度的船舶运动数学模型。该模型考虑了船舶粘性类流体产生的附加质量、附加惯性矩及静水压产生的复原力矩。另外,考虑复杂的海洋环境对船舶运动的影响,建立了风浪干扰模型。根据实船数据,进行船舶操纵性试验仿真,验证了所建模型的正确性。其次,设计了反步滑模自适应控制器,并应用于舵鳍联合减摇控制。考虑到舵鳍联合系统模型的复杂性,为方便控制器设计,建立了具有严反馈形式的舵鳍联合控制系统数学模型;针对传统的反步法鲁棒性不强的特性,在反步法的基础上引入滑模项,提高了控制器的鲁棒性;同时,针对舵鳍联合减摇控制系统模型参数变化、外界干扰等不确定且上界未知的特性,加入自适应算法来估计系统不确定项的界,并通过Lyapunov稳定性理论分析了控制系统的稳定性。论文在不同海况下,对船舶横摇与艏摇运动进行仿真,不同海况下的仿真结果表明该控制器在保证船舶航向控制精度的同时,能够使船舶达到较好的减摇效果。仿真结果表明该控制器具有鲁棒性。最后,在上述反步滑模自适应控制的基础上引入了非线性干扰观测器,估计干扰,目的是补偿扰动对系统的影响。仿真结果表明,该算法提高了控制性能,取得了较好的控制效果。
[Abstract]:Joint rudder and fin anti-rolling is a new anti-roll control strategy in the 20th century. It combines the advantages of rudder anti-rolling and fin anti-rolling, and can ensure that the ship does not have violent rolling when sailing at sea.At the same time, the ship's course has been controlled.In this paper, a four-degree-of-freedom nonlinear mathematical model is established, which can fully reflect the ship's motion. On the basis of this, the adaptive control of the rudder fin joint anti-roll sliding mode is studied.This paper mainly focuses on the following aspects: firstly, based on the idea of MMG modeling, this paper establishes a four-degree-of-freedom mathematical model of ship motion with reference to Sun Jinghao model.The model takes into account the additional mass, the additional moment of inertia and the moment of recovery generated by hydrostatic pressure.In addition, considering the influence of complex marine environment on ship motion, a wind wave disturbance model is established.According to the actual ship data, the simulation of ship maneuverability test is carried out, and the correctness of the model is verified.Secondly, an adaptive backstepping sliding mode controller is designed and applied to the rudder and fin joint anti-roll control.Considering the complexity of the rudder and fin joint system model, the mathematical model of the rudder fin joint control system with strict feedback is established for the convenience of controller design.The sliding-mode term is introduced on the basis of the backstepping method, which improves the robustness of the controller, at the same time, aiming at the uncertain and unknown upper bound characteristics of the rudder and fin joint anti-roll control system, such as parameter change, external disturbance and so on.An adaptive algorithm is added to estimate the bounds of the uncertainty of the system, and the stability of the control system is analyzed by Lyapunov stability theory.In this paper, ship roll and bow motion are simulated under different sea conditions. The simulation results under different sea conditions show that the controller can ensure the accuracy of ship heading control and achieve better anti-rolling effect.Simulation results show that the controller is robust.Finally, a nonlinear disturbance observer is introduced to estimate the disturbance on the basis of the backstepping sliding mode adaptive control. The aim is to compensate the disturbance for the system.The simulation results show that the algorithm improves the control performance and achieves good control effect.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U664.7;TP273

【参考文献】