摘要
针对动力定位船舶的速度不可测问题,考虑带有环境扰动的动力定位船舶运动非线性数学模型,提出一个非线性观测器-控制器控制方案,实现仅依赖于船舶位置和艏向测量值的船舶动力定位的输出反馈控制,且其观测器具有分离的稳定性.应用串级非线性系统理论证明了最终的船舶动力定位输出反馈闭环系统是全局渐近稳定的,所设计的输出反馈控制律迫使船舶的位置及艏摇角全局渐近收敛于期望值.以一艘供给船为例进行仿真研究,结果验证了所设计的船舶动力定位输出反馈控制律的有效性.
In order to overcome the non-measurability of the velocity of dynamic positioning ships, a nonlinear ob- server-controller scheme with separate stability for the observer is proposed based on the nonlinear mathematical model of ship movement with environmental disturbances. The proposed scheme implements the output feedback control of ship dynamic positioning systems with position and orientation measurements only. The resulting output feedback closed-loop control system of dynamic positioning ships is proved to be globally and asymptotically stable by applying the cascaded nonlinear system theory, and the designed output feedback control law forces the ship po- sition and orientation to globally and asymptotically converge to their desired values. Simulation results on a supply ship verify the effectiveness of the proposed output control law for the dynamic positioning of ships.
出处
《华南理工大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2012年第2期70-75,91,共7页
Journal of South China University of Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(51079013)
辽宁省教育厅高等学校科研资助项目(LT2010013)
大连海事大学中央高校基本科研业务费专项资金资助项目(2011QN109)
关键词
船舶
动力定位系统
非线性
观测器
串级系统理论
输出反馈
ship
dynamic positioning system
nonlinearity
observer
cascaded system theory
output feedback
