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摘 要船舶航向控制器的设计一直是船舶运动控制重要的研究课题之一，它与船舶航行的经济性、安全性和舒适性密切相关。由于船舶的动态具有大惯性、大时滞、非线性等特点，并且受模型参数摄动以及船舶运动中风、浪、流等外界干扰的影响，使得控制器的设计成为一个复杂的问题。自抗扰控制(ADRC)技术是由韩京清研究员及其团队十几年来创立的一种新的非线性控制方法。该方法不依赖于对象模型，将被控对象中的内部动态和外部干扰综合为系统所受的未知干扰，通过设计扩张状态观测器(ESO)对其进行总体的实时估计，并在反馈中合理引用非线性特性来提高系统的鲁棒能力。目前ADRC 已在电机控制、机器人控制、飞行器控制等领域的一些实际问题中得到了成功应用。本文将 ADRC 用于船舶航向控制，并进行了仿真研究。本文首先分析了传统 PID 控制方法的不足，介绍了跟踪微分器(TD)、扩张状态观测器(ESO)、非线性状态误差反馈(NLSEF)和自抗扰控制器的基本原理，给出了自抗扰控制器的标准结构。研究了船舶操纵基本原理和航向运动特性，建立了带有舵机约束的响应型非线性船舶运动数学模型，分析了船舶受到的环境干扰，并建立了风、浪、流干扰的数学模型。重点对船舶航向自抗扰控制方法进行了研究：将船舶航向运动系统看作舵机机构和船舶运动系统的串联，给出了系统组成结构图；讨论了两种船舶航向自抗扰控制器的设计方案，使用二阶 ADRC 设计了船舶航向运动自抗扰控制器；采用 s 函数实现了 ADRC 控制算法，搭建了船舶航向运动自抗扰控制仿真平台；总结了船舶航向自抗扰控制器的参数整定方法。对船舶航向自抗扰控制系统进行了仿真研究。结果表明，与经过参数优化的 PID 控制相比，基于 ADRC 的船舶航向控制系统在大角度航向切换、航向保持、外界干扰、参数摄动、模型改变等条件下均具有良好的控制效果，具有很好的鲁棒性和抗干扰能力。最后，针对仿真中自抗扰控制在小角度航向切换时响应速度慢的问题，对控制器进行了改进，对下一步工作进行了展望。本文希望通过对自抗扰控制在航向运动控制中的研究，进一步拓展自抗扰控制技术的应用领域，也为船舶航向控制器控制策略的研究提供一种新的思路。关键词：船舶航向控制；响应型非线性船舶运动数学模型；自抗扰控制器
Detailed Information
| Author: | 陈文文 |
|---|---|
| Publication Year: | 2008 |
| ISBN: | 3770106 |
| Pages: | 16 |
| Language: | Chinese |
| File Size: | 0.331 |
| Format: | |
| Price: | FREE |
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