基于终端滑模自抗扰的船舶航迹跟踪控制

发布时间：2018-04-27 09:06

本文选题：航迹跟踪 + 自抗扰控制　；参考：《大连海事大学》2017年硕士论文

【摘要】：随着船舶高速化、大型化和智能化的快速发展,关于船舶航迹跟踪控制的方法日新月异,与此同时,对船舶安全性和经济性的要求越来越高。为解决欠驱动水面船舶系统内部和外界扰动的不确定性、控制输入饱和及横漂等问题,本文采用终端滑模和自抗扰控制技术相结合的方法对船舶航迹跟踪控制进行了研究,主要研究内容包括:1.船舶航迹跟踪控制设计的研究:通过构造期望船艏向角函数,得到确保船舶航迹偏差收敛于零时的期望船艏向,之后,将得到的期望船艏向作为航向控制器的输入进行航向控制,从而构成闭环系统,达到船舶航迹间接跟踪控制的目的。此方法在仿真结构上独立于自抗扰控制算法,并且将复杂的航迹跟踪控制问题简化为易于实现的航向镇定问题,从而达到船舶航迹跟踪控制的目的。2.终端滑模自抗扰控制算法的研究:主要对自抗扰控制器的非线性状态误差反馈控制律部分进行优化。针对模型内部和外界干扰的不确定性,利用自抗扰算法中的扩张状态观测器在线实时估计并补偿扰动;采用非奇异终端滑模面与指数趋近律相结合的方法设计控制律,确保系统进入滑动模态时稳定,减小系统抖振,提高系统的收敛速度和稳态跟踪精度,从而改善系统的控制效果。另外,在上述方法基础上重新引入响应效果更好的快速终端滑模切换面,其综合了非奇异终端滑模和普通滑模的优点,确保系统状态远离平衡点时能够快速响应;结合幂指数趋近律,保证系统全局渐进稳定,从而进一步优化了控制效果。3.以大连海事大学教学实习船"育龙"轮为仿真对象,利用Matlab中的Simulink环境进行仿真实验,跟踪直线和曲线航迹,仿真结果验证了所设计控制方法的有效性。
[Abstract]:With the rapid development of high-speed, large-scale and intelligent ship, the methods of ship track tracking control are changing with each passing day. At the same time, the requirements of ship safety and economy are becoming higher and higher. In order to solve the uncertainty of the internal and external disturbances of the underactuated surface ship system and to control the input saturation and lateral drift, the tracking control of ship track is studied by the combination of terminal sliding mode and active disturbance rejection control technique in this paper. The main research contents include: 1. Research on the design of ship track tracking control: by constructing the expected bow angle function, the expected ship trajectory deviation converges to 00:00, and then, The desired heading of the ship is used as the input of the heading controller for course control, thus forming a closed-loop system to achieve the purpose of indirect tracking control of the ship's track. This method is independent of the active disturbance rejection control algorithm in the simulation structure, and simplifies the complex track tracking control problem to the easy to realize the course stabilization problem, so as to achieve the purpose of ship track tracking control. Research on terminal sliding mode active disturbance rejection control algorithm: the nonlinear state error feedback control law of active disturbance rejection controller is optimized. Aiming at the uncertainty of the internal and external disturbances, the extended state observer in the active disturbance rejection algorithm is used to real-time estimate and compensate the disturbance, and the control law is designed by combining the non-singular terminal sliding mode surface with the exponential approach law. The stability of the system into sliding mode is ensured, the chattering of the system is reduced, and the convergence rate and the tracking accuracy of the system are improved, thus the control effect of the system is improved. In addition, the fast terminal sliding mode switching surface with better response effect is reintroduced on the basis of the above method, which integrates the advantages of non-singular terminal sliding mode and ordinary sliding mode, and ensures that the system can respond quickly when the system state is far from the equilibrium point. Combined with the power exponential approach law, the global asymptotic stability of the system is guaranteed, and the control effect is further optimized. Taking the "Yuulong" wheel of Dalian Maritime University teaching practice ship as the simulation object, the simulation experiment is carried out by using the Simulink environment in Matlab to track the straight line and curve track. The simulation results verify the effectiveness of the designed control method.
【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】：U664.82

【相似文献】