基于响应模型在线辨识的航向鲁棒优化控制

Robust Control of Ship Course Based on Online Identification of Responding Model

为进一步解决船舶航向控制中模型不确定性的问题,实现鲁棒航向控制器的参数优化,将基于闭环增益成形算法的二阶鲁棒航向控制器参数分成模型参数和干扰带宽参数两部分。对于模型参数摄动,直接利用遗传算法对响应型船舶运动模型参数进行在线辨识;同时,针对海况变化引起航向保持性能下降的情况,综合考虑航向保持精度和舵机节能优化干扰带宽参数,从而实现控制器参数的双重在线优化。仿真结果表明,与固定参数控制器相比其具有更高的航向保持精度、更小的航向调节时间和超调幅度。该系统对于模型摄动和外界干扰具有较好的自适应能力,具有明显的工程应用价值。

In order to solve the uncertainty in ship motion control and optimize the robust course controllers, the pa- rameters of a second order course controller based on closed-loop gain shaping algorithm is divided into model param- eters and the disturbance bandwidth parameter. For the ship model perturbation, the parameters are adaptively ad- justed when the responding ship model is identified online by genetic algorithm. Moreover, the bandwidth parameter is optimized for minimum course keeping error and steering gear wear to minimize the influence of the sea state. The simulation tests indicate that the control system achieves higher course keeping precision, shorter setting time, smaller overshoot and better adaptivity to model perturbation and disturbance, which shows obvious engineering ap- plicability.