摘要
针对挖泥船工作过程中受强干扰的特点,提出了基于力、力矩前馈补偿与非线性反步法控制结合的挖泥船动力定位控制.力和力矩传感器前馈补偿挖泥船工作过程的反作用力,反步法闭环控制保证在补偿误差及其它干扰作用下使系统的全局渐近稳定,输出渐近跟踪设定位置.仿真结果表明,设计的挖泥船动力定位控制器具有良好的跟踪性能,并对挖泥强干扰有较好的鲁棒性.
In order to deal with the control difficulties of the dredger’s dynamic positioning system under large dredging forces reaction, an method combining backstepping and feed-forward compensation is proposed to use in dredgers’ dynamic positioning system. Dredging forces can be feed-forward compensated by sensors, and the backstepping controller guarantees the globally asymptotical stability of the closed-loop system, and output asymptotic track to desired trajectory. Simulation results show that the proposed controller has desired position tracking transient performance and robustness to the large dredging force disturbances.
出处
《船舶工程》
CSCD
北大核心
2010年第4期17-20,23,共5页
Ship Engineering
基金
国家重点基础研究发展计划(2005CB221505)
河南省控制工程重点学科开放实验室开放基金(KG2009-02)
关键词
挖泥船
动力定位
反步法
非线性控制
前馈补偿
dredger
dynamic positioning （DP）
backstepping
nonlinear controller
feed-forward compensation
