论文部分内容阅读
针对带有状态变量和控制输入约束条件以及横向漂移的欠驱动船舶,设计了直线航迹控制算法,通过对系统输出进行动态非线性滑模分解迭代设计,将单输入多输出的控制问题转化为标量零阶系统的镇定问题,并利用增量反馈控制,无需对不确定模型参数或风、流干扰进行估计,能够同时稳定船舶的航向和航迹。应用“育龙”轮的非线性水动力模型进行了仿真,结果表明,控制器对系统参数摄动及外界干扰不敏感,具有强的鲁棒性,且其设计参数物理意义明显、易于调节。
Aiming at the under-driven ships with state variables and control input constraints and lateral drift, a linear trajectory control algorithm is designed. Through the dynamic nonlinear sliding mode decomposition iterative design of the system output, the single input multiple output control problem is transformed into Scalar zero order system stabilization problem, and the use of incremental feedback control, without the uncertainty of the model parameters or wind, flow interference to estimate, can simultaneously stabilize the ship’s course and track. The results show that the controller is insensitive to perturbation of the system parameters and external disturbances, has strong robustness, and its design parameters have obvious physical meaning and are easy to be applied to the nonlinear hydrodynamic model. adjust.