基于自抗扰控制器的船舶电动舵机控制系统设计

Design for steering gear control system based on ADRC

针对经典PID控制无法满足船舶电动舵机系统指标要求的问题,设计一种基于自抗扰控制器的控制算法。分析了船舶电动舵机的数学模型。针对舵机控制对象设计二阶自抗扰控制器,建立基于自抗扰控制器的舵机控制系统。利用Matlab对舵机带负载工作进行仿真,对文中所提出自抗扰舵机控制器与经典PID舵机控制器进行对比分析。结果表明,文中所提出的自抗扰船舶电动舵机控制器能够满足舵机在负载大范围变化以及存在外界干扰时所需的响应速度,并有效改善动静态特性,抗干扰能力强,鲁棒性好,控制效果优于经典PID舵机控制器。

A controller of marine electric steering gear based on ADRC is designed to reslove the problem which classic PID controller can not meet the requirements. Section 2 models the marine electric steering gear, section 3 studies the composition and advantage of ADRC, then establishes a steering gear control system based on ADRC. Simulation results of MATLAB show that the proposed ADRC control system could meet the special requirements of steering gear with load changes and outside disturbance, and effectively improve characteristics such as dynamic response, anti-disturbance and robustness.