变结构控制理论在船舶动力定位系统中的应用

Application of Variable Structure Control Theory to Ship Dynamic Positioning

介绍一种时间最优与变结构理论相结合的控制方法 .其方法是 ,控制开始以后 ,系统状态轨迹按时间最优运动 ,当系统状态轨迹运动到最后一段换向线 ,同时也是过原点的最优轨迹时 ,让换向线与最优轨迹分开 .即采用一条过原点且与最优轨迹相割的直线作为换向线 .这时系统状态将沿换向线运动到原点 .用该方法设计的船舶动力定位系统控制器 ,结构简单、动态性能好 ,且具有一定的鲁棒性 .

The system status orbit moves in terms of time optimal after control is exerted, and when it moves to the last switching line,and it is the optimal orbit passing through the origin at the same time, the switching orbit moves away from the optimal orbit, the secant of optimal orbit passing through the origin is taken as the switching orbit. The system status then moves to the origin along the switching orbit. The controller of dynamic ship positioning designed by this method features simple structure, higher dynamic response and good robust performance.