优化自抗扰控制器在船舶主机上的应用与仿真研究

Application and Simulation Research of Optimal Active Disturbance Rejection Controller in Marine Main Engine

船舶主机速度控制系统具有典型的非线性和不确定性,并受到调速器执行能力的约束及风、浪、流等的干扰,使得主机速度控制器的设计非常困难。给出了带有船舶主机非线性数学模型,将自抗扰控制(ADRC)应用于船舶主机控制,并针对ADRC一些参数不易确定的问题,提出了一种优化目标函数,应用遗传算法对ADRC参数进行优化设计,从而设计出船舶主机优化ADRC控制器。仿真结果表明:该控制器对于船舶主机的非线性、参数不确定性、环境不确定性均有较强的鲁棒性;速度切换控制过程快速、平滑,可以实现高精度的速度控制。

Constrained by governor performing ability and subjected to disturbances of wina, sea ware, wave and current, the speed control system of marine main engine is of nonlinearity and uncertainty typically, so very difficult to be designed. In order to solve the problem, a nonlinear mathematical model for marine main engine was developed, the active disturbance rejection control （ADRC） technology was applied in it, for some ADRC parameters not easy to be determined, an optimization objective function was proposed to modify ADRC parameters online using genetic algorithm, which improved ADRC adaptive capacity. The optimal ADRC controller design was achieved. Simulation results of the marine main engine speed controller show that it has strong robustness to the system nonlinearity, parameter perturbations of the ship and environmental disturbances, realizing speed switching-over fast and smoothly and achieving high-accurate speed control for marine main engine.